Publication:4236333

zbMath0931.70001MaRDI QIDQ4236333

Wisama Khalil, Etienne Dombre

Publication date: 28 March 1999

zbMATH Keywords

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

Mathematics Subject Classification ID

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

Related Items

Control laws, tasks and procedures with ORCCAD: application to the control of an underwater arm, Learning interacting particle systems: Diffusion parameter estimation for aggregation equations, A Robust Control Scheme Based on Sliding Mode Observer to Drive a Knee‐Exoskeleton, A clear description of system dynamics through the physical parameters and generalized coordinates, Formulation for actuators' number enumeration for main planar structures in robotics, Lower limb contribution in kayak performance: modelling, simulation and analysis, Reduction of a parallel kinematics machine tool inverse kinematics model with regard to machining behaviour, Inverse dynamic modelling of a three-legged six-degree-of-freedom parallel mechanism, Locomotion dynamics for bio-inspired robots with soft appendages: application to flapping flight and passive swimming, Generating optimal dynamic motions for closed-chain robotic systems, Experimental study of a momentum-based method for identifying the inertia barycentric parameters of a human body, Fractional Approaches in Path Tracking Design (or Motion Control): Prefiltering, Shaping, and Flatness