Base parameters of dynamic models for manipulators with rotational and translational joints

Base parameters (a minimum set of dynamic parameters whose values can determine a dynamic model uniquely) are investigated for general parallel and perpendicular manipulators with rotational and translational joints. The base parameters determine a very fundamental motion for manipulator dynamic models and are useful for identification of dynamic parameters and efficient algorithms to solve the inverse dynamics problem. Base parameters are described in terms of a linear combination of link inertial parameters, and the exact number of base parameters is shown. These results are extensions of the authors´ previous results (1988) for parallel and perpendicular manipulators with rotational joints only