Experimental identification of robot and load dynamic parameters

摘要

Presents an experimental identification of dynamic parameters of annon-direct drive robot and its load, which appear in the integral model,nbased on the energy theorem formulation. In the robotics literature,nthere are no experimental results known to the authors concerning thenidentification of the integral model parameters. In order to satisfynthis, an experimental set-up has been built around an industrial ASEAnIRp-6 robot. Next the robot dynamic integral model, taking into accountnfriction parameters (viscous and Coulomb), as well as the load dynamicnmodel have been formulated. The experimental results have beennpresented, including comparison of the results for both integral andndifferential identification