Identification of dynamic parameters in lagrange robot model

The identification of dynamic parameters is essential in the dynamic robot control and design. By using the idea of a generalized link to linearize in terms of dynamic parameters the Lagrange formulation of a robot manipulator anf driving only two perpendicular joints at a time to save computational complexity, we present a new method in this paper of identifying the parameters recursively. The result of the identification from simulation by a PUMA-560 robot is very satisfactory.