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This paper presents two ways for the minimization of joint reaction forces   due to inertia forces (dynamic joint reaction forces) in a two degrees of   freedom (2-DOF) planar serial manipulator. The first way is based on the   optimal selection of the angular rotations laws of the manipulator links and   the second one is by attaching counterweights to the manipulator links. The   influence of the payload carrying by the manipulator on the dynamic joint   reaction forces is also considered. The expressions for the joint reaction   forces are obtained in a symbolic form by means of the Lagrange equations of   motion. The inertial properties of the manipulator links are represented by   dynamical equivalent systems of two point masses. The weighted sum of the   root mean squares of the magnitudes of the dynamic joint reactions is used as   an objective function. The effectiveness of the two ways mentioned is   discussed. [Projekat Ministarstva nauke Republike Srbije, br. TR35006 i br.   TR35038

Minimization of dynamic joint reaction forces of the 2-DOF serial manipulators based on interpolating polynomials and counterweights