I his paper presents a direct simultaneous identificat,ion of inertial and drive gain parameters either with the dynamic model or with lite energy ~riodel. 'I'his opcration is pcrforrricd thanks to a rricthod issurd from the Total Least Squares field. The ideas of t h i s field allow 11s to clarify the links het.ween t,he inertial parameters and the drive gain parameters. In part,iciilar, we show that on a trqjectory, given the current reference, the joint positions, velocities and acceleration signals, all the parameters can be identiiicd with rcspcct to a scale parameter. It can be applied to optxi-loop, or graph structiired rigid rohot, as wcll as t,o flrxihle link robot,. An exprrimrntal validnt h n for a t,wo degrees of freedom robot, is presented.
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