An experimental robot load identification method for industrial application

This paper discusses a new experimental robot load identification method that is used in industry. The method is based on periodic robot excitation and the maximum likelihood estimation of the parameters, techniques adopted from [1]. This method provides (1) accurate estimates of the robot load inertial parameters, and (2) accurate actuator torques predictions, both of which are essential for the acceptance of the results in an industrial environment. The key element to the success of this method is the comprehensiveness of the applied model, which includes beside the dynamics resulting from the robot load and motor inertia, the coupling between the actuator torques, the mechanical losses in the motors and the efficiency of the transmissions. Experimental results on a KUKA industrial robot equipped with a calibrated test load are presented.