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Modeling and Identification of Serial Robots

Wisama Khalil 1 Etienne Dombre 2 
Abstract : This Chapter gives unified tools to derive direct and inverse geometric, kinematic and dynamic models of serial robots and addresses the issue of identification of the geometric and dynamic parameters of these models.
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Contributor : Etienne Dombre Connect in order to contact the contributor
Submitted on : Monday, January 29, 2007 - 3:49:48 PM
Last modification on : Friday, August 5, 2022 - 3:03:30 PM
Long-term archiving on: : Wednesday, April 7, 2010 - 2:33:31 AM


  • HAL Id : lirmm-00127734, version 1


Wisama Khalil, Etienne Dombre. Modeling and Identification of Serial Robots. ISTE Ltd, London. Robot Manipulators: Modeling, Performance Analysis and Control, pp.1-79, 2007, Control Systems, Robotics and Manufacturing Series, 978-1-905209-10-1. ⟨lirmm-00127734⟩



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