Identification of the Dynamic Parameters of a Robotic Tool Based on Integrated Torque Sensors

Dynamic and kinematic parameters of the robot's tool are essential to build an accurate model of the robot. This has an impact on the behaviour of the latter. The identification of the kinematic parameters is solved by different conventional methods [1]. On the other hand, the identification of the dynamic parameters is more complex and requires the integration of additional sensors, e.g. force/torque sensors. Given that conventional methods suffer from high inaccuracies, this paper deals with the determination of the dynamic parameters based on a reference measurement to improve the accuracy. Therefore, static and dynamic methods are introduced. By the static method, the robot moves to predefined configurations and avoids continuous and unpredictable movements, whereas the dynamic method is based on a continuous rotation about a predefined axis. A comparison and a validation are carried out in an experimental setup.