Dynamic Parameter Identification Of Industrial Robot Based On The Optimal Excitating Trajectory

To achieve the dynamic control of robot, the dynamic behavior must be researched, and the dynamics model of robot must be established accurately. Dynamics model of robot is a precondition for the accurate control, dynamic design and motion simulation. Establishing dynamics model of robot depends on movement parameter and dynamics parameter. It is easy to get the former, but the latter has to be identified.This paper explains a procedure for getting models of a RRR robot dynamics.The exciting trajectory for each joint is a?nite Fourier series. Two methods (fisher information matrix and condition number of the regression matrix)are chosen to be the objective functions of the exciting trajectory.The exciting trajectory is combined with the limits for positions, speeds and accelerations of each joint.The frequency can be restricted within a permissible bandwidth to avoid the flexibilities. The dynamic parameters are identified on the two trajectories, and the better one is chosen to be validated. Finally, the simulation results prove the validity of the former identification method.