Based on the conservation principle of linear and angular momentum, the method derives the equations of the mass and mass center as well as inertia tensor of the new end-effector for the manipulator handling the unknown object.

• 该方法基于线动量和角动量守恒定律，推出了机械臂负载未知目标的新的末端效应器的质量、质心和转动惯量的方程组。