Identification of the minimum inertial parameters of robots

A direct method is developed to determine the minimum set of inertial parameters of tree-structure robots giving complete information. The method makes it possible to classify most of the regrouped parameters by closed-form relations. A linear model for the identification of the minimum inertial parameters is also presented. The identification model is computationally simple; it is a function of the joint positions and velocities and does not need to calculate the joint accelerations. The identification model is based on the energy theorem, providing a model which is linear in the link parameters