Experimental Evaluation of Parameter Identification Schemes on an Anthropomorphic Direct Drive Robot

[摘要] The inertial and friction parameters of a robot are used in the development and evaluation of model-based control schemes and their accuracy is related directly to the performance. These parameters can also be used for a realistic simulation, which may be useful before implementation of new control schemes. In principle, the numerical value of the parameters could be obtained via CAD analysis, but inevitably assembly and manufacturing errors exist. Direct measurement is not a realistic option because the complex nature of the system involves intense, time-consuming effort. Alternatively, we can deduce the values of the parameters by observing the natural response of the system under appropriate experimental conditions, i.e., by using identification schemes, which is an efficient way. This paper presents the experimental evaluation of five identification schemes used to obtain the inertial and friction parameters of a three-degrees-of-freedom direct-drive robot. We assume that the inertial and friction par...

[学科分类] 自动化工程

[关键词] Direct Drive Robot;Identification Schemes;Regression Models;Least-Squares Algorithm