A contribution to the dynamic simulation of robot manipulator with the software RobotDyn

Nguyen Van Khang, Do Thanh Tung


Robots manipulators are multibody systems with tree structures. In this paper the theoretical background of the computer program RobotDyn is presented. The program is developed using Lagrange's equations and Denavit-Hartenberg matrix. The dynamic simulation of the Robot SCARA with four degrees of freedom is considered as an example of application of the program RobotDyn.

Full Text:


DOI: https://doi.org/10.15625/0866-7136/26/4/5705 Display counter: Abstract : 133 views. PDF : 65 views.


  • There are currently no refbacks.

Copyright (c) 2004 Vietnam Academy of Science and Technology


Editorial Office of Vietnam Journal of Mechanics

3rd Floor, A16 Building, 18B Hoang Quoc Viet Street, Cau Giay District, Hanoi, Vietnam
Tel: (+84) 24 3791 7103
Email: vjmech@vjs.ac.vn