Comments on "Direct Calculation of minimum set of inertial Parameters of Serial Robots"

Wisama Khalil (1) , Fouad Bennis (1)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes

The paper presented by Gautier and Khalil [1] gives a direct and efficient method to calculate most of the minimum inertial parameters of serial robots. Some parameters concerning the translational links between the first rotational joints which are not parallel need particular calculation, partial results concerning the case where these links are either perpendicular or parallel are given in the paper [1]. This correspondence presents a direct solution to this particular case, such that all the minimum inertial parameters can be obtained directly without calculating the energy or the dynamic model of any link.

Mots clés: Dynamic model; base parameters; dynamic identification; minimum parameters

Domaines: Automatique / Robotique

Wisama Khalil, Fouad Bennis. Comments on "Direct Calculation of minimum set of inertial Parameters of Serial Robots". IEEE Transactions on Robotics and Automation, 1994, 10 (1), pp.78-79. ⟨hal-00401750⟩