Experimental identification of load parameters

The paper presents an experimental identification of the parameters of a load of a manipulator gripper: mass; static moment coordinates; and six inertial parameters. The experiments have been carried out for an ASEA IRp-6 robot equipped with a German DLR and American JR3 force/torque sensors. An external measurement system for monitoring each motor´s position, velocity and current has also been employed. Two identification models, differential and integral, have been depicted. The results of both static (i.e. when the manipulator is at rest) and dynamic (i.e. when the manipulator moves along a predefined trajectory) are presented.