Verification of Physical Parameters in a Rigid Manipulator Wrist Model

In this paper we present an identification algorithm for the rigid-body parameters of an industrial ABB robot wrist. The main contributions of our work are 1) the demonstration of rigid-body dynamic identification algorithms on large industrial robots, for which we handle complex internal couplings of the manipulator wrist, as shown in the experiments. 2) the use of the particular non-linear structure of the wrist model to solve a larger number of physical parameters than what is possible from general linear algorithms presented in the literature, given the measurement constraints on industrial robots.