MINIMUM DYNAMICS PARAMETERS OF ROBOT MODELS

This article presents a method to determine the minimum set of dynamics parameters of serial link robots. It is based on the use of a new concept ‘ τ i (i-th joint torque)-identifiable’ to classify the dynamics parameters. The method permits the determination of all the minimum dynamics parameters completely by means of recursive formulations regardless of the values of the geometric parameters of robots. To illustrate the application use of the method, several types of robots are examined.