Calculation of the base inertial parameters of closed-loops robots

The authors present two methods for determining the base inertial parameters of robots containing closed loops. This set of parameters is the minimum set which can be identified using the dynamic or energy model. The first method is symbolic; the solution is obtained by first determining the quasi base parameters of a corresponding tree structure robot; the closed-loops are then taken into account to get the quasi base parameters of the robot. Direct general relations are given for the two steps. The second method is numerical; the multiple solutions of the relations expressing the passive variables as a function of active variables are taken into account; the number of the base parameters is seen to be a function of each solution