Inverse kinematic and dynamic analysis of redundant measuring manipulator BKHN-MCX-04
Nguyen Van Khang
Nguyen Phong Dien
Nguyen Van Vinh
Tran Hoang Nam
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.