Abstract
In order to develop an advanced control system and a simulation system for a robot arm, it is necessary to establish an acculate identification method of a dynamical model.
The parameters of the dynamical model of the robot arm are composed of the link length, position of the center of mass, mass of link, inertia of link, viscous friction, and Coulomb friction. However, it is not necessary to estimate these parameters independently because if several combined constants appearing in the euqation of motion are obtained, then the control and the simulation can be done using only these combined constants.
In this paper, we firstly show that the viscous friction and Coulomb friction are obtained by measuring the relation between the current and angular velocity. Next we propose an effective identification method of inertial terms using the mechanical resonance occuring due to the stiffness of the joints.
