This paper aims to improve the accuracy of robot payload identification and decrease the complexity in its industrial application by developing a new method based on the actuator current.
Instead of previous general robot dynamic modeling of the actuators, links, together with payload inertial parameters, the paper discovers that the difference of the actuator torque between the robot moving along the same trajectory with and without carrying payload can be described as a function of the payload inertial parameters directly. Then a direct dynamic identification model of payload is built, a set of specialized novel exciting trajectories are designed for accurate identification and the least square method is applied for the estimation of the load parameters.
The experiments confirm the effectiveness of the proposed method in robot payload identification. The identification accuracy is greatly improved compared with that of existing methods based on the actuator current and is close to the accuracy of the methods that direct use the wrist-mounted force-torque sensor.
As the provided experiments indicate, the proposed method expands the application range and greatly improves the accuracy, hence making payload identification fully operational in the industrial application.
The novelty of such an identification method is that it does not require the rotor inertias and inertial parameters of links as a prior knowledge, and the specially designed trajectories provide completed decoupling of the load parameters.
