Minimum dynamics parameters of tree structure robot models

The authors present a method to determine the minimum set of dynamics parameters of tree structured robots. It is based on the use of a new concept, τ_i (i-th joint torque)-identifiable, to classify the dynamics parameters. The method permits the determination of all the minimum dynamics parameters of the tree structured robots completely by means of recursive formulations regardless of the values of their geometric parameters. To illustrate the application of the method, a robot having two arms with three joints is examined in an example