Identification of the Dynamic Model of the Scemi Robot

Abstract The mathematical description of the dynamics of a robot requires the knowledge of the inertia-parameters of the link-bodies. In this paper, we describe the identification process used for estimating the inertia-parameters by evaluating measurements of the current and the angular speed of the robotic drives. The movements during which the measurements are obtained are characterized. The method is implemented for the Scemi robot on two personal computers of the laboratory: one for the generation of the movements required for the identification process, and one for the on-line data acquisition and off-line calculation.