Author： Yoshida Koji Mayeda Hirokazu Ono Toshiro
Publisher： Taylor & Francis Ltd
ISSN： 1568-5535
Source： Advanced Robotics, Vol.10, Iss.1, 1995-01, pp. : 105-137
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Abstract
A base parameter set which is defined to be a minimum set of inertial parameters whose values can determine the dynamic model of a kinematic chain uniquely has been shown in complete closed-form for manipulators with a planar parallelogram link mechanism. The exact number of the base parameters has also been shown. A base parameter set plays a fundamentally important role to identify the dynamic model and to control and simulate the manipulator motion. The results would cover most of the commercially available industrial manipulators with closed chain mechanisms.
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