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Manipulator dynamics solving with help of the kinetostatic method

Jiří Fischer, Jiří Kacer


To compute solidity of individual nodal points and segments of industrial robots and manipulators it is necessary to know how the powers and moments formats are in the for calculation important locations. One of the methods, which is solving this problem is the kinetostatic method. Its result is the load determination in individual kinematical units of the robot or manipulator chain. In this article is shown the problem of power load computation of simple manipulator with two degrees of freedom.


manipulator, robot, kinematics, kinetostatic, matrix
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