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Closed-form kinematic and dynamic models of an industrial-like RRR robot

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4 Author(s)
Kostic, D. ; Dept. of Mech. Eng., Eindhoven Univ. of Technol., Netherlands ; Hensen, R. ; de Jager, B. ; Steinbuch, M.

Presents closed-form kinematic and dynamic models of a robot with three rotational degrees of freedom. The derivation of the models and estimation of their parameters are explained. Relevancy of the models is investigated with a writing task. Validation results, obtained by simulation and experiment, establish correctness of the models and illuminate their practical benefits.

Published in:

Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on  (Volume:2 )

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