A new approach to the dynamic parameter identification of robotic manipulators

摘要

This paper presents a novel systematic approach to identify the dynamic parameters of robotic manipulators. A sequential identification procedure is first proposed to deal with the difficulties usually encountered with standard approaches. An all-accelerometer inertial measurement unit (IMU) is also suggested to estimate the joint velocities and accelerations, which are traditionally obtained by differentiating the joint positions. The IMU kinematics and the computation method for estimation joint motion from IMUs are provided. The proposed method yields promising results in improving the identification precision compared to conventional methods. Finally, practical experiments are conducted to validate the theoretical results.