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Influence of trajectories on the joint torques of kinematically redundant manipulators

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. | Vietnam Journal of Mechanics, VAST, Vol. 29, No. 2 (2007), pp. 65 - 72 INFLUENCE OF TRAJECTORIES ON THE JOINT TORQUES OF KINEMATICALLY REDUNDANT MANIPULATORS NGUYEN VAN KHANG, Do TUAN ANH, NGUYEN PHONG DIEN Department of Applied Mechanics , Hanoi University of Technology TRAN HOANG NAM Vinh Long Pedagogical and Technical College 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 1. INTRODUCTION The operation tasks of today 's robot manipulators become more sophisticated and require that manipulators possess more and more degrees of freedom (DOF) to offer greater flexibility. The kinematic redundancy occurs when the DOF of a manipulator is more than the minimum number necessary for executing a giyen operation task [1]. The extra DOF presented in redundant manipulators can be used to avoid obstacles and kinematic singularities, to increase the workspace or to optimize the motion of the manipulator relatively to a cost function. There is widespread interest in redundant manipulators due to such advantages. A significant number of paper has been published concerning the problems of kinematic redundancy and much achievement has been reviewed by [2]. Recently, there have been several scientific papers focused upon kinematic analysis, motion planning and controls of redundant robot manipulators [1-9]. However, it should be pointed out that the development on the theory for solving the inverse dynamic problem of redundant manipulators is still limited and the literature on this respect therefore is little. In this paper, .