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Definition of "base dynamic parameters" |
a set of dynamic parameters that appear in the canonical equations of motion. Canonical equations of motion of robot dynamics do not include linearly dependent equations. These are eliminated by making use of various procedures. As a result, dynamic equations of motion contain only independent equations which are used for the purpose of control. Each base dynamic parameter is a linear combination of the inertial parameters of the individual links. Base dynamic parameters are subject to the identification in adaptive control schemes applied to robot control. |
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