On physical impossibility of sets of base-parameter values in the equations of motion for manipulators

- The relationship between the range of errors of base-parameter values and the physical impossibility -

Abstract

The equations of motion for manipulators are important in simulations. In the set of equations of motion for a manipulator the structural parameters of the manipulator and the inertia parameters of the links appear. The structural parameters are obtained from the design data, while the inertia parameters are obtained by estimating the values from the input torque and output data. When all the inertia parameter values of the equations of motion are obtained, some combinations of the obtained parameter values may become physically impossible. In this study, we investigate the physical impossibility of sets of base-parameter values for a 3d,o,f manipulator.