Identification of the payload inertial parameters of industrial manipulators

In this paper we present four methods for the identification of the inertial parameters of the load of a manipulator. The knowledge of the values of these parameters can be used to tune the control law parameters in order to improve the dynamic accuracy of the robot. They can also be exploited to verify the load transported by the robot. The methods presented have been validated using Staubli RX 90 robot. The experimentation has been carried out using data collected from the industrial control system (version CS8) of the manufacturer. This version allows to have access to joint positions, velocities and torques. The methods presented are based on solving linear system of equations using weighted least squares solution.