Dynamic Parameter Identification of the Kuka LBR Med Robot

Abstract

KUKA LBR Med robot is a new member of the KUKA LBR family. Because of its extensive safety structure and sensitivity in haptic capabilities, LBR Med can meet specified medical requirements and behave compliant in human-robot collaboration. The inertial parameters of KUKA LBR iiwa robots have been well studied and published. But for LBR Med, the dynamic model is not published or publicly available. Although the Denavi-Hartenberg (DH) parameters between LBR Med and LBR iiwa are the same, their inertial parameters are different, which are essential to design user-specified controllers based on dynamic model. This paper identifies the base parameters of KUKA LBR Med R800. According to validation experiments, the identified parameters can represent dynamic model accurately. The general identification procedure, including modeling, experiment trajectory design, signal processing, and parameters estimation are discussed in this paper. Also, based on the identified base parameters, the procedures to establish model-based torque control on Kuka LBR Med is illustrated. We provide the kinematic and dynamic libraries” of KUKA LBR Med R800, which can help non-expert in robot identification practitioners design their own robotic applications quickly.