An Algorithm to Estimate Manipulator Dynamics Parameters

This paper presents algorithms for identifying parameters of an N degrees-of-freedom robotic manipulator. First, we outline the fundamental properties of the Newton-Euler formulation of robot dynamics from the view point of parameter identification. We then show that the Newton-Euler model, which is nonlinear in the dynamic parameters, can be transformed into an equivalent modified model which is linear in dynamic parameters. We develop both on-line and off-line parameter estimation procedures. To illustrate our approach, we identify the dynamic parameters of the cylindrical robot, and the three degree-of-freedom positioning system of the CMU DirecbDrive Arm II. The experimental implementation of our algorithm to estimate the dynamics parameters of the six degrees-of-freedom CMU DD Arm II is also presented.