Review: An overview of dynamic parameter identification of robots

Authors:
Jun Wu;Jinsong Wang;Zheng You
Affiliations:
Institute of Manufacturing Engineering, Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, PR China;Institute of Manufacturing Engineering, Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, PR China;Institute of Instrument Science and Technology, Department of Precision Instruments and Mechanology, Tsinghua University, Beijing 100084, PR China
Venue:
Robotics and Computer-Integrated Manufacturing
Year:
2010

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Abstract

Due to the importance to model-based control, dynamic parameter identification has attracted much attention. However, until now, there is still much work for the identification of dynamic parameters to be done. In this paper, an overview is given of the existing work on dynamic parameter identification of serial and parallel robots. The methods for estimating the dynamic parameters are summarized, and the advantages and disadvantages of each method are discussed. The model to be identified and the trajectory optimization are reviewed. Further, the methods for validating the estimated model are summarized and the application of dynamic parameter identification is mentioned. The results of this review are useful for manufacturers of robots in selecting proper identification method and also for researchers in determining further research areas.