Experimental identification of manipulator dynamics through the minimization of its natural oscillations

This work presents amethod of identifying the dynamics parameters of rigid-body manipulators through the minimization of its natural oscillations. It is assumed that each link has an actuated joint that is different from its center of mass, such that its driving torque is influenced by gravitational force. In this earlier results of our study, it is assumed that the inertias can be expressed in terms of the mass and center of mass. This work utilizes the actual force of gravity for the manipulator link to achieve natural oscillation. The oscillatory motion allows the system to be converted into an optimization problem through the minimization of the frequency of oscillation. The correct dynamics parameters are found when the minimum frequency of oscillation is achieved. The proposed method is analyzed and a theorem is presented that supports the claims presented in this work together with implementation results.