Identification of robot's inertial parameters based on 6-axis wrist force sensor

A new method is proposed for on-line identification of inertial parameters of an open loop, serial robot. Based on outputs of 6-axis wrist force sensor of robot, the method allows one to identify the inertial parameters without measuring the joint angular accelerations. Inertial parameters can be obtained with single forms. Because the identification process can work at the robot's working site, the joint characteristics of robot links can be considered and the inertial tensor matrix of robot links is positive definition at any configurations of robot. The proposed method can also be used to identify the inertial parameters of workpieces or tools clutched by robot, which is important to control a robot that often changes its execution object.