AXY:Basics of joint parameters identification/Verification

The image shows a comparison between recorded torque feedback and torque computed using the identified parameters.

Repeatability of parameter identification

For testing the repeatability of implemented parameter identification algorithm the parameters of joint 2 (DR1200-4S) are identified several times consecutively. At the beginning of all measurements the joint is already in operating temperature.

Measurement	$\Theta _{AB}$	$\rho _{v}$	$\rho _{c}$	$l_{AB}m_{AB}g$
1	0,1344732	0,3389793	3,8477142	2,0104706
2	0,1345419	0,3383904	3,8244827	2,0297676
3	0,1345093	0,3334403	3,8569023	2,0208896
4	0,1345672	0,3398903	3,7731432	2,0273873
5	0,1345354	0,3346488	3,7522782	2,0209898
6	0,1345903	0,3314771	3,7464159	2,0335845
7	0,1346014	0,3246576	3,7571930	2,0183868
8	0,1346407	0,3281108	3,7361262	2,0274325
9	0,1345969	0,3239006	3,7094229	2,0246346
10	0,1346543	0,3223137	3,7282359	2,0401946
Average	0,1345711	0,3315809	3,7731915	2,0253738
Mean variation	0,13%	5,30%	3,91%	1,47%

Conclusions

As can be seen in the table all parameters can be reproducibly identified.