Comparison between the IDIM-IV method and the DIDIM method for industrial robots identification

Abstract

This paper deals with two robot identification methods recently introduced. The first one is based on the use of the Inverse Dynamic Identification Model (IDIM) and the Instrumental Variable (IV). The second one is the Direct and Inverse Dynamic Identification Models (DIDIM) method, which is a closed-loop output error method minimizing the quadratic error between the actual and simulated joint torques. Both methods rely on the simulation of the Direct Dynamic Model (DDM). They are compared with a six degrees of freedom industrial robot. The experimental results show that the DIDIM method has the advantage of requiring less data preprocessing. Nevertheless, the IDIM-IV method appears to be more robust to modelling errors in the simulation which are not located in the identified dynamic model.