Authors: Vũ Đức Bình, Đỗ Đăng Khoa, Phan Đăng Phong, Đỗ Sanh

Published in: Vietnam Journal of Science and Technology ISSN 0866-708X

Published: 2018

Abstract in English: In the paper, the program motion of an unloading manipulator which is treated as a first integral of the considered system, is investigated. Currently, the popular way to solve such problem is the method of Lagrange multipliers only. In the paper, the authors use another approach, the Principle of Compatibility, in which the required program is treated as one of motion equations of the system. In the particular case, the program is considered as one of first integrals of the system. For illustrating the proposed method, the motion of an unloading manipulator of three degrees of freedom is considered.

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