Experimental dynamic identification of YuMi collaborative robot
Abstract
In order to improve the precision of robot simulators and to develop new control laws, it is necessary to identify the numerical values of their dynamic parameters. In this article, we propose an estimation of the dynamic parameters of the robot ABB IRB14000 (YuMi). A basic identification method of the robot using the inverse dynamic model and the least squares is utilized. Numerical values are presented, in this paper, to help interested researchers to develop and improve the results of our own study.