Disclosed is a robots parameter estimation method through trajectory design, wherein the method comprises: (S110) a step of collecting position data or torque data of the robot; (S120) a signal processing step including reducing noise of the collected data to enhance accuracy of the collected data; (S130) a step of performing kinetic estimation modeling of the robot; and (S140) a step of optimizing a trajectory used for kinetic parameter estimation of the robot using a minimum square parameter estimator to the result acquired from the dynamics estimation modelling. Accordingly, the present invention provides a new optimal standard which is effective and intuitive in calculation to design an excitation trajectory a robot follows.;COPYRIGHT KIPO 2017
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