Experimental identification of robot dynamics for control

The paper discusses the experimental identification of dynamic robot models for their application in model based robot control, e.g., computed torque control. The accuracy of these controllers relies highly on the ability of the robot model to accurately predict the required actuator torques. The paper shows how this application reflects on the choices that have to be made in the different steps of the identification procedure, and consequently on the accuracy of the obtained model parameters and actuator torque prediction