Closed-Loop Rigid Model Identification of an Industrial Robot
Abstract
The identification process aimed at estimating the modelparameters of a COMAU Smart S2 industrial robot for controllerdesign purposes is presented. The principal challenges include theexistence of a controller-in-the-loop and the absence of jointsensors for acceleration and velocity measurements. A method validin this context has been applied, and suitable trajectories weregenerated to avoid the excitation of the unmodelled dynamics. Thismethod was applied to an industrial robot, its parametersestimated and used for the design of a model-based controller.
