On the identification of the inertial parameters of robots

摘要

An algorithm is presented for the identification of the inertial parameters and friction coefficients of robots. The algorithm is not required to measure or calculate the joint accelerations. The identification model is based on the energy theorem, is linear in the robot parameters, and is easy to calculate. An example of a two-degree-of-freedom robot is presented.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>