Dynamic Model Identification of an RV-M1 Robot Arm

The RV-M1 robot arm is an industrial manipulator suitable for academic use in teaching and research. For such use, it is required to design open source operation and control systems. A good dynamic model is the starting point for such a design. In this context, this paper presents the dynamic model identification using a least squares approach of the wrist parameters of an RV-M1 robot. It addresses key issues on system identification as the minimum set of inertial parameters, physical feasibility, and optimal excitation trajectories. Estimate parameters values are presented as well as validation trajectories results showing the effectiveness of the procedure used in this work.