NONLINEAR GREY-BOX IDENTIFICATION OF INDUSTRIAL ROBOTS CONTAINING FLEXIBILITIES

Nonlinear grey-box identification of industrial robots is considered. A three-step identification procedure is proposed in which parameters for rigid body dynamics, friction, and flexibilities can be identified only using measurements on the motor. In the first two steps, good initial parameter estimates are derived which are used in the last step, where the parameters of a nonlinear physically parameterized model are identified directly in the time domain. The procedure is exemplified using real data from an experimental industrial robot.