Minimal Parametrization of Robot Dynamic Models*

Abstract

This paper presents systematic rules for determining the minimum set of inertial parameters that are relevant for the dynamic model of serial and tree-like manipulators. In particular, it is shown, starting from the barycentric definition of inertial parameters, that a limited number of additional rules are necessary to obtain this minimum set. Moreover, the value of these parameters can be identified experimentally either from the dynamic model or from a reaction model that relates the robot motion to the reaction forces and torques transmitted to its bedplate.