This article is an historical overview of control theory applied to robotic manipulators, with an
emphasis on the early fundamental theoretical foundations of robot control. It discusses …

In recent years, the increasing complexity and safety-critical nature of robotic tasks have
highlighted the importance of accurate and reliable robot models. This trend has led to a …

Using industrial robots as machine tools is targeted by many industries for their lower cost
and larger workspace. Nevertheless, performance of industrial robots is limited due to their …

The determination of the minimum set of inertial parameters of robots contributes to the
reduction of the computational cost of the dynamic models and simplifies the identification of …

A common way to identify the inertial parameters of robots is to use a linear model in relation
to the parameters and standard least-squares (LS) techniques. This article presents a …

This article presents a new approach to the problem of determining the minimum set of
inertial parameters of robots. The calculation is based on numerical QR and SVD …

The base parameters (nonredundant parameters that can generate the dynamic equations
of motion) are investigated for general parallel and perpendicular manipulators with only …

As the use and relevance of robotics for countless scientific purposes grows all the time,
research into the many diverse elements of the subject becomes ever more important and in …

This paper presents the software package SYMORO+ for the automatic symbolic modelling
of robots. This package permits to generate the direct geometric model, the inverse …

This paper presents a new algorithm for the identification of the inertial parameters and
friction coefficients of robots. The algorithm does not require to mesure or to calculate the …