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Book Sections Year : 2007

Modeling and Identification of Serial Robots


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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Dates and versions

lirmm-00127734 , version 1 (29-01-2007)


  • 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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