Fig 1.
Schematic diagram of robot and environment.
Fig 2.
Parameter identification and control algorithm.
Table 1.
Model parameters of the robot.
Fig 3.
Excitation trajectory.
Table 2.
Values of the dynamic parameters.
Fig 4.
Joint torque.
Fig 5.
Errors in the measured and computed torques.
Fig 6.
Excitation trajectory for further verification.
Table 3.
Coefficients of the excitation trajectory.
Fig 7.
Joint torque for further verification.
Fig 8.
Errors in the measured and computed torques for further verification.
Fig 9.
Trajectory of 1st joint.
Fig 10.
Trajectory of 2nd joint.
Fig 11.
Trajectory of 3rd joint.
Fig 12.
Trajectory of 4th joint.
Fig 13.
Trajectory of 5th joint.
Fig 14.
Trajectory of 6th joint.