Dynamic Modeling and Identification of the Puma Robot

The article presents an original procedure to identify the inertial parameters which affect the dynamic behaviour of a robot manipulator. The procedure is based on the fact that all the relevant parameters for the dynamic model also explicitly appear in the equations which relate the robot motion to its reaction forces and torques on the bedplate. This property allows to use external measurements obtained independently from the robot control unit. Moreover, identification accuracy is improved since the reaction equations are not affected by internal effects such as friction or backlash in the joint transmissions.