Base parameters of manipulator dynamic models

The base parameters (nonredundant parameters that can generate the dynamic equations of motion) are investigated for general parallel and perpendicular manipulators with only rotational joints. A set of parameters that are simple combinations of the link is proved to be the base parameters by analyzing the dynamic equations and making clear the redundancies of the link parameters of the manipulators. The results can be applied to parameter identification of the manipulator dynamic models and in algorithms for solving the inverse dynamic problem.<
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