EXPERIMENTAL-DETERMINATION OF DYNAMIC PARAMETERS OF ROBOTIC ARMS

This article presents a practical method for determining the dynamic p arameters of robotic arms. The two unique features of the method are t hat it determines the friction parameters along with the inertia and m ass parameters and that it does not require the measurement of joint a ccelerations. The method is demonstrated experimentally by determining the dynamic parameters of a closed-chain direct-drive arm. The precis ion of the determined parameter was verified in the context of compute d torque-based controllers. Statistical analysis also shows that the e stimated values are reliable. (C) 1993 John Wiley and Sons, Inc.