Dynamic identification of Kuka KR270 : Trajectory with load

This video shows a trajectory with a known payload mass used to identify the dynamic parameters of the links, load, joint drive gains and gravity compensator of a heavy industrial Kuka KR 270 manipulator Details and results are given in the paper: A. Jubien, M. Gautier, Global identification of spring balancer, dynamic parameters and drive gains of heavy industrial robots, IEEE/RSJ Int. Conf. Intel. Robot. Syst. (IROS), Tokyo (2013), pp. 1355-1360