TABLE OF CONTENTS We have presented in this chapter the geometric, kinematic and dynamic modeling of serial robots. The identification of geometric and dynamic parameters of these models was also covered, with the most efficient methods from an experimental point of view. The geometric description of the structure is based on a method which makes it possible to generalize the various models for tree-structured robots and closed loop robots [KHA 02]. The symbolic calculation of these models on the computer was dealt with in numerous works [DIL 73], [KHA 76], [ZAB 78], [KRE 79], [ALD 82], [CES 84], [MEG 84], [MUR 84], [KIR 85], [BUR 86], [IZA 86], [KHA 89]. The SYMORO+ [KHA 97] software, which contains all the algorithms of this chapter, is certainly the best performing and the only one able to deal with all of the models mentioned.
