New formulas for complete determining base parameters of robots

Abstract

The determination of base parameters of robots is very important for reducing the computational burden of robot dynamics and identifying robot inertial parameters. Several methods have been proposed to directly detect base parameters with the robot geometric parameters. Among them only the recursive formulas presented by Kawasaki at el. (1991) can completely determine the base parameters. In this paper a new approach is used to solve this problem and a set of new formulas is obtained. A comparison between the new formulas and those of Kawasaki shows that the latter can be further improved and simplified.