Improved dynamic identification of robotic manipulators in the linear region of dynamic friction

Conventional dynamic identification procedures for robotic manipulators make use of the linearity of the dynamic model with respect to the parameters. With these identification procedures, only a simple friction model such as Coulomb and viscous friction can be incorporated while other dynamic and nonlinear friction effects cannot be considered. This paper proposes a simple and yet effective scheme to identify the dynamic friction region of robotic manipulators. These results are then incorporated into the excited trajectory designing process. The proposed scheme has been verified on the first four link of the Mitsubishi PA10 manipulator, an improved dynamic model was obtained which proves the effectiveness of the proposed identification procedures.