抄録
This paper shows a comparison of joint based and contact-force based dynamics identification for a 5 degrees of freedom robotic arm. Off-line robot dynamic identification methods are mostly based on using Inverse Dynamics, which calculates the joint torque or contact-force that are linear in relation to dynamic parameters. The estimation of the parameters is carried out using a total least squares or weighted least squares method. However, these methods can identify only the minimal-set of inertial parameters. In this paper we calculate the dynamic parameters in two ways which are joint based and contact-force based and we also calculate the standard parameters closet to a priori consistent dynamic parameters obtained through CAD data given by the robot manufacturer. Then, we compare joint based and contact-force based identification method with experimental data.
