I do not fully understand what base inertial parameters means? What are they used for? I'm carrying out an inverse kinematics and direct dynamics of a 4 dof. articulated robot. Is there helpful advose in this case?
Which method should I follow, numerical or symbolic?
Sirji,
Total degree of freedom in all the directions and the number of independent coordinates required to minimise the error while manipulating the robotic arm is required. rest about inverse kinematics is very much essential coz the direction of motion has to be changed after every iteration of robot is completed.
U can refer to BOOK by TIMOSHENKO of Robotic arm manipulator
I would consider "basic inertial parameters" to be the masses and the principal moments of inertia of each of the links in the kinematic chain taken with respect to some convenient local coordinate system, often chosen to be center-of-mass coordinates of the respective link.
Hi,
We call "base parameters" the set of dynamic parameters that can be identified and that is enough to describe the whole robot dynamics. Please refer to the following work of Maxime Gautier, "Numerical calculation of the base inertial parameters of robots," Journal of Robotic Systems Volume 8, Issue 4, pages 485–506, August 1991
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