A general method for estimating dynamic parameters of spatial mechanisms (Q1286725)

This paper presents a technique for estimating dynamic parameters in spatial mechanisms using any joint type, based on measurements of displacements, velocities and accelerations, and external forces and torques. A form of the equations of spatial motion is derived, which is linear in the dynamic parameters and is based on a multibody simulation code. Then we use singular value decomposition to find the essential parameter set, and minimum parameter set. It is shown that a simulation of a four-bar mechanism (with spherical, universal, and revolute joints), based on the estimated parameters, gives an accurate response.