A new approach to parameter identification of robot manipulators

This paper deals with the parameter identification problem of robot manipulators. A new approach which is based on the well known iterative Newton-Euler dynamics algorithm, is presented. One of the advantages of this method is that the parameters obtained using this method can be used directly in the inverse kinematics solution algorithm. Another advantage of the proposed method is that the parameter identification process of the robot links and joints can be done respectively and recursively so that the computing time for parameter estimation can be reduced greatly compared with a batch method