Abstract
This article presents a symbolic solution to determine the base inertial parameters of robots containing closed loops. The method gives most of the base inertial parameters directly and in many cases even gives all the base inertial parameters. The solution is obtained using recursive relations without cal culating the energy or the dynamic model of the robot; the constraint equations of the loops need not be obtained. New results concerning the base inertial parameters of tree structure robots are also given.
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