Contribution to the identification of dynamic parameters of robot manipulators with closed loops

The dynamic model of a robot manipulator is linear with respect to the parameters of mass distribution when e.g. barycentric quantities are used. Based on the notion of barycentric parameters, recursive rules have been established to find the minimal set of parameters occurring in the equations of motion of serial-link robots. The aim of the present contribution is to extend the previous results to the case of manipulators with a single loop consisting of a pure parallelogram, the most frequent closed configuration in robotics.