ROS-based Toolbox for Motor Parameter Identification of Robotic Manipulators


For many applications, a precise knowledge of the model of the robot is necessary for accurate and stable control. However, it is not always feasible or desirable to perform from scratch an in-depth study of the robot model, especially if it is not an element of concern for the respective application. In this article we present a methodology for identifying motor parameters of a robotic manipulator. We discuss the mathematical model and introduce an extensible toolbox with velocity-control based methodology for a fast identification of individual motor parameters. The results show that we can identify individual parameters even for joints that are commercialised as of the same type.

6th IFAC Conference on Intelligent Control and Automation Sciences ICONS 2022: Cluj-Napoca, Romania, 13–15 July 2022