Experimental identification of robot and load dynamic parameters

Presents an experimental identification of dynamic parameters of a non-direct drive robot and its load, which appear in the integral model, based on the energy theorem formulation. In the robotics literature, there are no experimental results known to the authors concerning the identification of the integral model parameters. In order to satisfy this, an experimental set-up has been built around an industrial ASEA IRp-6 robot. Next the robot dynamic integral model, taking into account friction parameters (viscous and Coulomb), as well as the load dynamic model have been formulated. The experimental results have been presented, including comparison of the results for both integral and differential identification.<>