Parameter identification and passivity based joint control for a 7 DOF torque controlled light weight robot

Abstract

We propose a method for identifying the parameters of a flexible joint robot based on the motor position, current and the additional joint torque sensor information. We make some theoretical remarks on the passivity property of the new controller used in the experiments. Simulation results for the movement of the complete robot are compared to measurements in order to validate the quality of the model and the performance of the controller.