Abstract
The robot dynamics consists of the dynamics of the mechanics, the servo-drives, and the robot controller structure. The dynamics of the mechanics is simulated by the equation of motion which is set up automatically by a computer program. The robot controller is taken into account too, to simulate the robot dynamics. In order to control the robot axes decoupled, the moment at support, nonlinear effects as the Coulomb friction and the variable moment of inertia has to be known. Therefore an extended Kaiman filter is designed and tested, to identify these signals. Since the filter is based upon a linearization it is very sensitive to the start a-priori estimate and co-variances and the driving motor torque.
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