REAL-TIME IDENTIFICATION OF ROBOT - DYNAMIC PARAMETERS USING PARALLEL-PROCESSING .2. IMPLEMENTATION AND TESTING

The paper implements and demonstrates a parallel recursive estimator f or the realtime identification of dynamic parameters for a general n-l ink high performance robot, The implementation entails the use of a pa rallel processor platform which includes the real-time simulation of t he forward dynamics of the robot. The parallel estimator is first test ed for parameter convergence using PRBS test signals and then tested i n a closed loop robot control environment. A case study is presented s howing the real-time convergence of the dynamic parameters following t he application of a payload.