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Title: Program motion of unloading manipulators
Authors: Vu, Duc Binh
Do, Dang Khoa
Phan, Dang Phong
Do, Sanh
Keywords: First integral
Transmission matrix method
Unloading manipulator
The principle of compatibility
Issue Date: 2018
Series/Report no.: Vietnam Journal of Science and Technology;Vol.56,No.05 .- P.662–670
Abstract: 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.
ISSN: 2525-2518
Appears in Collections:Vietnam journal of science and technology

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