抄録
This article presents a method to determine the minimum set of dynamics parameters of manipulators. It is based on a new concept ’τi (i-th joint torque) -identifiablity’ to classify the dynamics parameters. The method permits the determination of all the minimum dynamics parameters which can be used directly to the Newton-Euler Formulations. It also presents an algorithm for efficient computation of inverse dynamics of manipulators using the minimum set. The computational efficiency of the Algorithm is compared with other published methods.
