Dynamic models of robot manipulators with standard dynamic parameters are required for simulations, model-based controller design and external force estimation. The aim of this work is to identify the complete dynamic model of the 6-axis Stäubli RX-160 industrial robot. A convex optimization-based method is used for parameter identification. Consistent model parameters are obtained as the result of the optimization procedure subject to physical constraints. Low-speed behavior of the robot being dominated by joint friction, the dynamic model includes an algebraic friction model consisting of the Coulomb and viscous friction components along with the Stribeck effect. The coupled mechanical structure of the 5th and 6th joints, and elasticity due to the presence of balancing springs are also represented in the proposed dynamic model. The ordinary least square error method is used for the performance evaluation of the convex optimization-based method. Estimated parameters from both methods are experimentally verified over identification and test trajectories. The identified model is finally used as a basis in the estimation of external forces acting on the robot’s end-effector. The proposed sensor-less model-based approach for the estimation of external forces constitutes an alternative mean of experimental validation. Comparison of computed external forces with measured ones by an F/T transducer shows that the dynamic model obtained with the proposed method provides an accurate estimation.

仿真，基于模型的控制器设计和外力估算需要具有标准动态参数的机器人操纵器的动态模型。这项工作的目的是确定6轴史陶比尔RX-160工业机器人的完整动力学模型。基于凸优化的方法用于参数识别。作为优化过程的结果，要获得受物理约束的一致模型参数。机器人的低速行为受关节摩擦力的支配，动力学模型包括代数摩擦模型，该模型由库仑和粘性摩擦分量以及斯特里贝克效应组成。所提出的动力学模型还表示了第五和第六关节的耦合机械结构以及由于存在平衡弹簧而产生的弹性。普通最小二乘误差法用于基于凸优化的方法的性能评估。在识别和测试轨迹上，对两种方法的估计参数进行了实验验证。最终，所确定的模型将用作估算作用在机器人末端执行器上的外力的基础。提出的基于无传感器模型的外力估算方法构成了实验验证的另一种方法。通过F / T传感器将计算出的外力与测得的外力进行比较，结果表明，所提方法获得的动力学模型可提供准确的估算值。在识别和测试轨迹上，对两种方法的估计参数进行了实验验证。最终，所确定的模型将用作估算作用在机器人末端执行器上的外力的基础。提出的基于无传感器模型的外力估算方法构成了实验验证的另一种方法。通过F / T传感器将计算出的外力与测得的外力进行比较，结果表明，所提方法获得的动力学模型可提供准确的估算值。在识别和测试轨迹上，对两种方法的估计参数进行了实验验证。最终，所确定的模型将用作估算作用在机器人末端执行器上的外力的基础。提出的基于无传感器模型的外力估算方法构成了实验验证的另一种方法。通过F / T传感器将计算出的外力与测得的外力进行比较，结果表明，所提方法获得的动力学模型可提供准确的估算值。