Robot dynamic calibration: Optimal excitation trajectories and experimental parameter estimation

Advanced robot control schemes require an accurate knowledge of the dynamic parameters of the manipulator. This article examines various issues related to robot dynamic calibration, from generation of optimal excitation trajectories to data acquisition and filtering, and experimental inertial and friction parameter estimation. In particular, a new method is developed for the determination of optimal joint trajectories for the calibration experiment, which is based on evolutionary optimization techniques. A genetic algorithm is used to determine excitation trajectories that minimize either the condition number of the regression matrix or the logarithmic determinant of the Fisher information matrix. All the calibration steps have been carried out on a SCARA two-link planar manipulator, and the experimental results are discussed. 2001 John Wiley & Sons, Inc.