Identification of inertial and drive gain parameters of robots

This paper presents a direct simultaneous identification of inertial and drive gain parameters either with the dynamic model or with the energy model. This operation is performed using a method issued from the total least squares field. The ideas of this field allow us to clarify the links between the inertial parameters and the drive gain parameters. In particular, we show that on a trajectory, given the current reference, the joint positions, velocities and acceleration signals, all the parameters can be identified with respect to a scale parameter. It can be applied to open-loop, or graph structured rigid robot, as well as to flexible link robot. An experimental validation for a two degrees of freedom robot is presented