Abstract
The main objective of this paper is presentation of an experimental identification of a non-direct drive robot and load dynamic parameters, which appear in the differential and integral models. In the robotics literature there are not many experimental results known to the authors, concerning the identification of the dynamic parameters of different models. In order to satisfy this, the experimental system has been built around ASEA IRp-6 robot. In the paper we propose to precompute the friction characteristics which are seperated in the integral model. Various aspects of the exciting trajectories are considered. The experimental results are presented. The identified models are verified by computing the predicted torques and trajectories.
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