Influence of trajectories on the joint torques of kinematically redundant manipulators.
Nguyen Van Khang
Do Anh Tuan
Nguyen Phong Dien
Tran Hoang Nam
Abstract
This paper presents an algorithm for solving the inverse dynamics problem
of redundant manipulators using MAPLE software. The method has the advantage of
generating efficient symbolic solutions which reduces the computational cost. The influence
of trajectories on the joint torques of redundant manipulators is considered. The theory is
illustrated by the numerical simulation of a redundant four-link planar manipulator.
Keywords: Redundant manipulator, inverse dynamics, kinematic redundancy
