Parameter identification for industrial robots with a fast and robust trajectory design approach
We propose a fast, robust trajectory design for use in parameter identification. Computation time for our design is approximately 1/20 the time for prominent, existing methods. We estimate the dynamic parameters for a 6 DOF robot, the Staubli Tx-90, which has not previously been identified, to our knowledge. The RMS errors of the torque prediction were small (< 24 Nm).
identification robotics dynamic parameters trajectory optimization