... for generic tasks, the motion should be generated for various functions such as pulling, pushing, twisting, and bending. In this presentation, a comprehensive form of equations of motion, which includes the general external loads applied at any points of the system, is derived and implemented. An optimization...

... are then analysed using the vector-loop method. Subsequently, the equations of motions are derived with the Lagrange equation and solved by the 4th order Runge-Kutta method for the dynamic response, which include the position, velocity and acceleration of each machine member. The duration of individual operation...