Identification of parameters in models of robots with rotary joints

An algorithm for the estimation of parameters in robots with rotary joints is presented. The parameters are the center of mass and inertia matrix for each link, and Coulomb friction and viscous damping in each joint. We also present an algorithm for identification of the center of mass and inertia matrix for the load. Data required are joint angles and torques, and the first and second derivatives of the joint angles. The algorithm for the load also requires force sensing such that net force and torque on the load can be computed.