Authors: Do Dang Khoa, Phan Dang Phong, Do Sanh

Published in: National Conference on Science and Technology in Mechanical Engineering, 5th Edition (VCME 2018). Hanoi, October 2018. pp. 85-93
ISBN 978-604-67-1103-2

Publication date: 2018

Abstract: This paper investigates the inverse dynamics problem of a loading/unloading manipulator. A method is proposed to determine the kinematic parameters of the driving link that meet the kinematic requirements of the end-effector, and thereby to determine the necessary dynamic parameters (forces, torques, motor power) to fulfill the requirements of the given problem.

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