Modelling and Identification of STAUBLI RX-60 Robot

This paper deals with the modelling and identification of an industrial Staubli RX-60 robot. A Lagrange-Euler method is used to derive the dynamic equations of the robot. The dynamic model introduced here was obtained with the distinct parameters. In this paper, a least squares estimation for determining parameters of a dynamic Staubli RX-60 robot model based on experiments was used. The robot was moved with respect to many experiments formed. At the end of the movement, data such as the position and velocity was taken from the robot. Moreover, the acceleration was taken from SIMI Motion with a three cameras system and torque was measured from the loadcell (FTC-L50) sensor during the robot experiments. The inertial parameters of the robot were estimated according to these data. The estimation values were verified experimentally. The experimental results show that the estimated inertial parameters predict robot dynamics well. The errors of the torque estimation were also computed and they are between 0.0171 Nm and 0.1136 Nm.