Chapter 6 — Model Identification

Dynamic identification of Staubli TX40 : Trajectory without load

This video shows a trajectory without load used to identify the dynamic parameters of the links, the load and the joint drive chain of an industrial Staubli TX 40 manipulator. Details and results are provided in the paper: M. Gautier, S. Briot: Global identification of joint drive gains and dynamic parameters of robots, ASME J. Dyn. Syst. Meas. Control 136(5), 051025-051025-9 (2014); doi:10.1115/1.4027506
Maxime Gautier
Thanks to my co-author Sebastien Briot, to Philippe Lemoine for his skill in the experimental design at IRCCyN lab., and to Staubli for their kind collaboration.
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