Identification of Robot Dynamic Parameters Based on Equimomental Systems

Abstract

Dynamic parameter identification is essential due to the model-based controller, accurate off-line programming, and validation of simulation results. An identification method is proposed to estimate the torque required for a given trajectory using the concept of equimomental systems which is a dynamically equivalent system of point-masses for the first time. It is experimentally validated by estimating the base parameters and using it for torque reconstruction for a general trajectory on the KUKAiiwa manipulator in order to validate the model identified. Results for the estimated torque using identified model and the torque obtained from robot controller are in the close match.