Dynamic parameter identification of the Universal Robots UR5

In this paper, methodology for parameter identi-fication of an industrial serial robot manipulator is shown. Thepresented methodology relies on the fact that any mechanicalsystem can be written in form linear with respect to some set ofparameters. Based on experimental measurements done on theUniversal Robots UR5, the presented methodology is appliedand the dynamical parameters of the robot are determined intwo ways. First by use of the Moore-Penrose pseudoinverse,and then by use of optimization. At the end, the ability of thedetermined parameters to predict measurements other than theones used for the identification is shown.