Dynamic identification of Staubli TX40 : Trajectory with load

This video shows a trajectory with a known payload mass of 4.5 kg attached to the end effector of an industrial Staubli TX 40 manipulator. Joint position and current reference data are collected on this short-time (8s) trajectory and used with data collected on a trajectory without load to identify all the dynamic parameters of the links, load and joint drive chain in a single global LS procedure. Details and results are given 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), 051025̶ 051025-9 (2014); doi:10.1115/1.4027506