REAL-TIME IDENTIFICATION OF ROBOT - DYNAMIC PARAMETERS USING PARALLEL-PROCESSING .1. THEORY

The paper develops the mathematical foundations for a parallel recursi ve estimator for the identification of dynamic parameters for a genera l n-link high performance robot. The estimation is structured so that one estimator is assigned to each link. Only composite parameters used for calculating joint torques (the inverse dynamic equations) are ide ntified. The parallel structure makes possible the real-time estimatio n of dynamic parameters, including load and frictions, using only medi um-speed processors. A companion paper will verify the performance of the estimator as part of a real-time control structure.