金万敏, 万坤华. 机器人动力学参数辨识新法[J]. 机器人, 1993, 15(3): 23-27..
JIN Wanmin, WAN Kunhua. NEW METHOD FOR IDENTIFICATION OF DYNAMIC PARAMETERS ON ROBOT. ROBOT, 1993, 15(3): 23-27..
Abstract：Based on the repeating undecouple of joint variables on dynamic parameters,a new concept of repeatingvariable has been advanced,then,a new identification method of dynamic parameters was derived,which combining special joint motions with recursive algorithms and eliminating as far as possible repeating variables.
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