Inverse dynamics of loading and unloading manipulators

Abstract

In this paper, a method to solve the inverse dynamics problem of a
loading and unloading manipulator is introduced. The method
proposes a way to determine the kinematics information of driving
links based on the kinematics constraints subjected to the
manipulator’s end-effector. Thus, the driving dynamics (forces,
moments, motor power) to realize the end-effector’s kinematics
constraints are computed.