抄録
A method has been proposed to judge if a set of base-parameter values for the dynamic model of a manipulator determines the inertial matrix of the dynamic model to be positive definite for each configuration of the manipulator or not, when continuous change of each joint variable of the manipulator is approximately considered as a finite set of discrete points. If a set of base-parameter values is judged not to do, it is physically impossible. The method can be executed on computers. The method is useful to examine a set of estimated base-parameter values. A method also has been proposed to modify the estimated base-parameter values such that the set of them determines the inertial matrix to be always positive definite if it is judged not to do.
