Parameter expressiop for modelling and inverse dynamics problems of manipulators

Abstract

For improving the ability of manipulators or developing CAD systems for manipulators, it is necessary to develop a practical identification method for manipulators and an effective computational method for inverse dynamics problems. We have already developed a practical identification method for serial manipulators, and Luh et al. have proposed an effective algorithm for inverse dynamics problems, called Luh's algorithm in this paper. However, our method cannot be coupled with the inverse dynamics algorithm because the parameter expressions which suit our method are different from those which suit Luh's algorithm. Therefore, we must 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. Then we define the virtual parameters using the results of the identification problem to solve the inverse dynamics problem.