Identification of industrial robots' nonlinear dynamics

Simple linear joint controllers are still used in typical industrial roboti c systems. The use of these controllers leads to non-negligible path deviat ions for complex tasks, e. g. laser-cutting, since nonlinear influences are neglected. Model-based compensation of nonlinear dynamics is the most comm on way to reduce these path deviations. For this, a parameter-linear multi- body model is generated and adapted to the robots' real behaviour by parame ter identification methods. Different identification approaches ore present ed. The approaches are applied to the typical sit d.o.f. industrial robot m anutec-r15 and compared with respect to exitation problems and practical ap plicability. The application to path error prediction and compensation show s the quality of the identified model.