Abstract
For advanced control and design of manipulator systems, developement of the methods to identify manipulator dynamics precisely is essentially important.
The dynamical model of a manipulator can be obtained by decomposing the manipulator into many components, measuring their dynamical parameters, and calculating the coefficients of the nonlinear model. But it costs quite much labor to perform these, and still the obtained model is said to be inaccurate.
A practical method to identify the coefficients of the nonlinear terms of the model from simple test motions was proposed by the authors. In this paper this method is applied to a real manipulator with three rotational joints, and the results are shown to be satisfactory.
Some important technical details for the application are also mentioned.
