@phdthesis{xu:tel-01577732, TITLE = {{Conception et {\'e}tude des manipulateurs seriels {\`a} dynamique d{\'e}coupl{\'e}e prenant en compte la charge embarqu{\'e}e}}, AUTHOR = {Xu, Jiali}, URL = {https://theses.hal.science/tel-01577732}, NUMBER = {2017ISAR0004}, SCHOOL = {{INSA de Rennes}}, YEAR = {2017}, MONTH = Apr, KEYWORDS = {Decoupling ; Serial manipulators ; Optimal control ; Adjustable mechanism ; Tolerence capability ; Manipulateurs s{\'e}riels ; D{\'e}couplage dynamique ; Commande optimale ; M{\'e}canisme ajustable ; Analyse de la tol{\'e}rence}, TYPE = {Theses}, PDF = {https://theses.hal.science/tel-01577732/file/These_DEF_XU_Jiali_.pdf}, HAL_ID = {tel-01577732}, HAL_VERSION = {v1}, }