Identification for a direct drive robot `DARM-2´

An identification method for dynamic models of robots that improves on the sequential estimation method of Mayeda, K. Osuka and A. Kangawa (1984) is proposed. This method has the following advantages over the sequential estimation method: the parameter error propagation is reduced, because parameters directly estimated from the data are used instead of parameters indirectly calculated; and analysis calculation for identification is reduced, because at most four degrees of freedom of the robot to be identified are considered. The method is applied to a 6 d.o.f. direct drive robot