Experimental identification of dynamic parameters for a class of geared robots

The main objective of this paper is a presentation of an experimental identification of a non-direct drive robot and load dynamic parameters, which appear in the integral model. The last one is based on the energy theorem formulation. In the robotics literature there are not many experimental results known to the authors, concerning the identification of the dynamic parameters of different models. In order to satisfy this, the experimental system has been built around an industrial ASEA IRp-6 robot. In this paper we propose to precompute the friction characteristics which are separated in the integral model. Various aspects of the exciting trajectories are considered. It is shown how to identify the friction coefficients using a short integral model. The experimental results are presented, including comparison of the results for both integral and differential identification. The identified models are verified by computing the predicted torques and trajectories.