scientific article; zbMATH DE number 1269504

zbMath0931.70001MaRDI QIDQ4236333

Wisama Khalil, Etienne Dombre

Publication date: 28 March 1999

Title: zbMATH Open Web Interface contents unavailable due to conflicting licenses.

zbMATH Keywords

Lagrangian formulationinverse kinematicsredundancyroboticsJacobian matrixindustrial robotstrajectory planningforward kinematicsparallel robotsworkspace analysiscalibration methodtransformation matriceskinematic chainshomogeneous transformationssingular configurationsinverse geometryserial robotsNewton-Euler formalism6R-robotscomplex chain robotsidentification of dynamic parametersKhalil-Kleinfinger notationpseudo-invese methodsrobots with closed loopstree structured robotstwist-wrench duality

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60) Research exposition (monographs, survey articles) pertaining to mechanics of particles and systems (70-02)

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