Inverse kinematic and dynamic analysis of redundant measuring manipulator BKHN-MCX-04

This paper deals with the problem of inverse kinematics and dynamics of a measuring manipulator with kinematic redundancy which was designed and manufactured at Hanoi University of Technology for measuring the geometric tolerance of surfaces of machining components. A comparison between the calculation result and the experimental measurement is also presented. | Vietnam Journal of Mechanics, VAST, Vol. 32, No. 1 (2010), pp. 15 – 26 INVERSE KINEMATIC AND DYNAMIC ANALYSIS OF REDUNDANT MEASURING MANIPULATOR BKHN-MCX-04 Nguyen Van Khang1 , Nguyen Phong Dien1 , Nguyen Van Vinh1 , Tran Hoang Nam2 1 Hanoi University of Technology 2 Vinh Long Pedagogical and Technical College Abstract. This paper deals with the problem of inverse kinematics and dynamics of a measuring manipulator with kinematic redundancy which was designed and manufactured at Hanoi University of Technology for measuring the geometric tolerance of surfaces of machining components. A comparison between the calculation result and the experimental measurement is also presented. 1. INTRODUCTION Robotic systems are coming into general use in the manufacturing industry for measuring geometric tolerances of manufactured products. These robots are equipped with a measuring system and can be used very flexibly for complicated measuring tasks, in particular at locations that are difficult to access. In the past few years the robotics community evolved growing interest in measuring manipulators which have the characteristic of kinematic redundancy to offer greater flexibility. A kinematically redundant manipulator is a serial robotic arm that has more independently driven joints than necessary to define the desired pose (position and orientation) of its end-effector. In other words, a manipulator is said to be redundant when the dimension of the workspace m is less than the dimension of the joint space n. The extra degree-of-freedom presented in redundant manipulators can be used to avoid obstacles, to increase the workspace or to optimize the motion of the manipulator according to a cost function. Particular attention has been devoted to the study of redundant manipulators in the last twenty years [1-2]. A number of scientific works are focused upon kinematic analysis [1, 3, 5, 14], motion planning [4, 6] and controls [2, 7, 10] of redundant robot manipulators. Summaries

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