Parameter identification of robot dynamics

This paper presents algorithms for identifying parameters of multi-degrees-of-freedom robotic arm. First, we outline the fundamental properties of the Newton-Euler formulation of robot dynamics from the view point of parameter identification. We then show that the Newton-Euler model which is nonlinear in some of dynamic parameters can be transformed into the equivalent model which is linear in dynamic parameters. We develop both on-line and off-line parameter estimation procedures. To illustrate our approach, we identify the dynamic parameters of the cylindrical robot, and the three degree-of-freedom positioning system of the CMU Direct-Drive Arm II.