scientific article; zbMATH DE number 1269504
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6R-robotscalibration methodcomplex chain robotsforward kinematicshomogeneous transformationsidentification of dynamic parametersindustrial robotsinverse geometryinverse kinematicsJacobian matrixKhalil-Kleinfinger notationkinematic chainsLagrangian formulationNewton-Euler formalismparallel robotspseudo-invese methodsredundancyroboticsrobots with closed loopsserial robotssingular configurationstrajectory planningtransformation matricestree structured robotstwist-wrench dualityworkspace analysis
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