Abstract
In this chapter, we introduce the formulation and properties of a new kinematic model for describing robot kinematics. This kinematic model, which we call the S-Model, was designed to facilitate kinematic parameter identification. This model can be applied to model the kinematics of all robotic manipulators which satisfy assumptions (A-1) through (A-7) (refer to Chapter 2).
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© 1987 Kluwer Academic Publishers
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Stone, H.W. (1987). Formulation of the S-Model. In: Kinematic Modeling, Identification, and Control of Robotic Manipulators. The Kluwer International Series in Engineering and Computer Science, vol 29. Springer, Boston, MA. https://doi.org/10.1007/978-1-4613-1999-3_3
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DOI: https://doi.org/10.1007/978-1-4613-1999-3_3
Publisher Name: Springer, Boston, MA
Print ISBN: 978-1-4612-9193-0
Online ISBN: 978-1-4613-1999-3
eBook Packages: Springer Book Archive