Experimental identification of dynamic parameters of robot

Abstract This paper presents the experimental identification of the dynamic parameters of a 6 degree of freedom robot SR400. Dynamic parameters of the last two links of the hand are estimated with an energy normalized identification method and a forward step by step procedure startmg from the end effector down to the base, moving at first the last link, then the 2 last ones.... At each step all the parameters of the energy model reduced to the moving lmks are identified. An exciting trajectory is calculated usmg a priori knowledge from identified values in the previous steps and from C.A.D. robot’s manufacturers data or special motion tests. The identification of an accurately known load validates the method.

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