Closed-Loop Rigid Model Identification of an Industrial Robot

Abstract

The identification process aimed at estimating the model parameters of a COMAU Smart S2 industrial robot for controller design purposes is presented. The principal challenges include the existence of a controller-in-the-loop and the absence of joint sensors for acceleration and velocity measurements. A method valid in this context has been applied, and suitable trajectories were generated to avoid the excitation of the unmodelled dynamics. This method was applied to an industrial robot, its parameters estimated and used for the design of a model-based controller.