Minimal resolution needed for an accurate parametric identification - application to an industrial robot arm

Abstract

Parametric identification consists in estimating the values of physical parameters of robotic systems. The most popular methods consist in using the least squares regression because of their simplicity. However, we don't know how much they are dependent on the measurement accuracy and so on we ignore the necessary resolution they require to produce good quality results. This paper focuses on this issue and introduces a derivation of the CESTAC method, which will be applied to an industrial 6 degrees of freedom (DOF) serial robot, to estimate the minimal resolution indispensable for an accurate parametric identification.