Publication:4236333
zbMath0931.70001MaRDI QIDQ4236333
Publication date: 28 March 1999
Lagrangian formulation; inverse kinematics; redundancy; robotics; Jacobian matrix; industrial robots; trajectory planning; forward kinematics; parallel robots; workspace analysis; calibration method; transformation matrices; kinematic chains; homogeneous transformations; singular configurations; inverse geometry; serial robots; Newton-Euler formalism; 6R-robots; complex chain robots; identification of dynamic parameters; Khalil-Kleinfinger notation; pseudo-invese methods; robots with closed loops; tree structured robots; twist-wrench duality
70Q05: Control of mechanical systems
70B15: Kinematics of mechanisms and robots
70E60: Robot dynamics and control of rigid bodies
70-02: Research exposition (monographs, survey articles) pertaining to mechanics of particles and systems
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