Identification of robot dynamic parameters using Jacobi differentiator

This paper investigates the behavior of central Jacobi differentiator in robot identification applications. Jacobi differentiator is a Jacobi orthogonal based algebraic differentiator. It is applied to compute acceleration from noisy position measurements. Moreover, its frequency domain property is analyzed via a finite impulse response (FIR) filter point of view, indicating clearly the differentiators performance. In the end, a two revolute joints planar robot identification application is presented and comparisons between the Jacobi differentiator and the Euler differentiation combined with Butterworth filter are drawn.