Parameter Expression for Modeling and Inverse Dynamics Problem of Manipulators

Abstract

For improving the ability of manipulators or developing the CAD systems, it is necessary to develop an identification method for manipulators and an effective computational method for inverse dynamics problem.
We have already developed a practical identification method for serial manipulators, and there is an effective algorithm for inverse dynamics problem proposed by J. Y. S. Luh. But, there are some differences between the parameters set suited for our method and the parameters set suited for Luh's algorithm.
For that reason, we had to treat the above problems as different problems.
In this paper, we introduce the concept of virtual parameters in order to treat both problems in a unified manner. First, we discuss the parameter form suited for each problem. Next, we define the virtual parameters using the results of the identification problem to solve the inverse dynamics problem.