Identification of robot model parameters

Abstract

In the previous chapter we derived the two most important models for the purpose of identification of their dynamic parameters. Both models are shown in their canonical form and are represented by a set of dynamic parameters which are usually linear combinations of individual link dynamic parameters. This simplifies the task of identifying these parameters. This chapter is dedicated to various identification schemes which can be used to identify the set of canonical parameters. The techniques proposed here apply to both geared and direct drive robots. From a practical point of view, in order to carry out experimental identification it is necessary to measure joint positions, velocities, accelerations, and joint torques and/or forces. For the purpose of load identification the robot has to be equipped with force/torque sensors and any experimental set-up in a laboratory environment should satisfy these requirements. However, since these sensors are quite expensive, robots are seldom equipped with them in practice.