Adaptive Parameter Estimation of Robot with Actuator and Friction Dynamics

This article presents an adaptive parameter estimation framework for a robotic system, where actuator dynamics and friction characteristics are considered in the robotic model. By adopting integral operations and introducing the actuator dynamics, the system of robot can be constructed into a linear parameterized form without using acceleration and torque of joints, which possess implementation advantages. A novel adaptive parameter estimation is presented to ensure that the parameter estimation error converges exponentially to zero. The simulation of a selective compliance assembly robot arm (SCARA) confirms the effectiveness of the proposed model and algorithm. Meanwhile, it verifies that the dynamic continuously differentiable friction model can approximate the classic static friction model.