An efficient algorithm for identification of robot parameters including drive characteristics
A procedure for estimating the dynamic model parameters of an n degree-of-freedom (DOF) robot is presented. The characteristics of the drive dynamics are included in the modelling process. In this manner, the estimated dynamic model can facilitate the design of control laws for actual implementation. Due to a regrouping procedure, the estimation model for the model parameters is formulated in an upper block triangular form. This special structure can be exploited to obtain a computational efficient estimation algorithm for the model parameters. An integral form of the estimation algorithm is then developed to eliminate the need of using joint accelerations which tend to be noisy. The complete procedure does not require prior knowledge of the manipulator's geometric parameters. Furthermore the robot manipulator needs not follow some restrictive test trajectories. The experimental results obtained from a 4-DOF SCARA robot are presented to illustrate the practical application of the method.
drive characteristics dynamic model scara robot identification algorithm