FourByThree - D2.3 Robot Identification Tools

The identification of the dynamic model of a robotic manipulator represents a fundamental step in high performance model-based controller designing. Despite the huge number of works presented on this topic, the symbolic dynamic model reduction (i.e., the identification of the set of parameters observable through the measure of joint torques and positions) remains a challenging task, characterized from tailored solutions, adapted from time to time to specific families of mechanisms. The proposed approach introduces an automatic and analytical reduction of the dynamic model, based on a multidimensional Fourier summation decomposition of the dynamic equations. The procedure enables to obtain symbolically the base dynamic parameters (BP) starting from a given kinematic structure. The Fourier based model reduction can be applied indifferently both to open- and closed-chain kinematics