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It is based on the use of a new expression for the kinetic and potential energy of the robot as function of the inertial parameters of the generalized links. The demonstration is seen to be easier than the previous methods and gives a clear idea about the physical meaning of the regrouped parameters.<\/jats:p>","DOI":"10.1002\/rob.4620070207","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T09:50:09Z","timestamp":1183715409000},"page":"225-242","source":"Crossref","is-referenced-by-count":21,"title":["The use of the generalized links to determine the minimum inertial parameters of robots"],"prefix":"10.1002","volume":"7","author":[{"given":"W.","family":"Khalil","sequence":"first","affiliation":[]},{"given":"F.","family":"Bennis","sequence":"additional","affiliation":[]},{"given":"M.","family":"Gautier","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,22]]},"reference":[{"doi-asserted-by":"crossref","unstructured":"T.Kanade P.Khosla andN.Tanaka \u201cReal\u2010time control of CMU direct\u2010drive arm II using customized inverse dynamics \u201d inProc. 23rd CDC 1984 pp.1345\u20131352.","key":"e_1_2_1_2_2","DOI":"10.1109\/CDC.1984.272256"},{"key":"e_1_2_1_3_2","first-page":"561","article-title":"Une mod\u00e9lisation performante pour la commande dynamique de robots","volume":"6","author":"Khalil W.","year":"1985","journal-title":"RAIRO, APII"},{"doi-asserted-by":"crossref","unstructured":"W.Khalil J. 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