An identification method for estimating the combinative dynamic parameters of robots

This paper presents an off-line identification method to estimate the structural parameters of the joint control systems and the base inertial parameters (combinative dynamic parameters) of robot manipulators. It makes a feature of adopting the reflected inertias of actuators and the attained paths in joint space as the measuring data, which tends to be more applicable and effective compared with the conventional methods. A simulation example of PUMA560 robot illustrates the validity and simplicity of the identification procedure