An identification method for estimating the inertia parameters of a manipulator

1 June 1992

journal article
research article
Published by Wiley in Journal of Robotic Systems

Vol. 9 (4) , 505-528
https://doi.org/10.1002/rob.4620090405

Abstract

This article presents an off‐line identification method to estimate the minimal knowledge of the inertia parameters for determining the dynamic model of a manipulator. A new approach is proposed to find a set of the minimal knowledge of the inertia parameters. This set is recursively estimated by moving one joint at a time. The off‐line identification procedure also provides a sufficient condition for a persistently exciting trajectory. A simulation example of Stanford arm illustrates the validity and simplicity of the identification procedure.

Keywords

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