Identification of the parameters of robot manipulators dynamics about an operating point using perturbed dynamics

In this paper, a new approach to identify the parameters of robot manipulator dynamics is presented. The approach is based on exciting the robot manipulator with multiple identification trajectories that pass through the operating point with specific speeds and accelerations. The position, velocity and acceleration of the robot joints along with the corresponding torque at the operating point are recorded. The relative change of the joint motion and the corresponding torque compared to a reference operating point trajectory is used to identify the robot dynamics parameters. By using perturbed rather than the absolute motion values, several modeled and un-modeled effects can be eliminated from the identification equations. This is very useful when an accurate model of the robot dynamics at specific operating point(s) of the workspace is required.