Identification of robot dynamics with differential and integral models: a comparison

Compares the integral model suggested by Gautier and Khalil (1988, 1989) for identification of robot dynamics with the differential equations of the robot. The advantage of identification by the integral model is, that no measurement of acceleration is required. Although appealing at a first glance, this approach yields problems in conjunction with the necessary least squares algorithm for parameter estimation. The authors even succeed in getting better results by employing the differential equations, without measurement of acceleration. It is shown, how to achieve reasonable good results with low noise by just derivating the position signals. Finally, the authors´ results are illustrated by experiments with a direct driven two link robot