Mathematical modeling and computer simulation for redundant manipulators
Abstract
This paper presents a methodology of analyzing the kinematics and dynamics characteristics of redundant manipulators. The mathematical models of a general planar redundant manipulator have been derived. Computer simulations have been carried out by MATLAB and SIMULINK software, which show the effectiveness of the algorithm obtained through this research.
Fields of Study & Subjects
Robotic Mechanisms and Dynamics
Dynamics and Control of Mechanical Systems
Soft Robotics and Applications
Publication details
- Journal / source
- CRC Press eBooks
- Pages
- 661–668
- Publication date
- 24 February 2026
- Language
- EN
- Document type
- Book chapter