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In this paper, we have attempted to focus on the kinematics velocity and dynamic modeling of a biped robot with seven mechanical links, six actuators and 3 degree of freedom. The Jacobian matrix is used to represent the analytical expressions of the Cartesian speed of the hip in terms of the joint speed and vice-versa. We did not represent the forward and inverse kinematic velocity modeling of the...
This paper represents a study of the context of improvement the parallel robots accuracy. We introduced, in the first hand, the different reasons of inaccuracy according to the different references mentioned in our paper as well as the methods used for the calibration and the accuracy improvement. In the other hand, we detailed the description of the direct and inverse geometric modeling of a biped...
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