A rule-based framework for parameter estimation of robot dynamic models

An approach to parameter estimation of robot dynamic models, in particular inertial terms, using symbolic computations is presented. The approach makes use of a class of manipulator test motions whose definition is more general than in previous works. Methods for analyzing the symbolic structure of these test motions are presented and, in particular, an approach to motion determination providing good excitation of inertial parameters is introduced. An overall strategy for identifying all base inertial parameters of dynamic model is outlined