Exciting Trajectories for the Identification of Base Inertial Parameters of Robots

A common way to identify the inertial parameters of robots is to use a linear model in relation to the parameters and standard least-squares (LS) techniques. This article presents a method to generate exciting identification trajectories in order to minimize the effect of noise and error modeling on the LS solution. Using nonlinear optimization techniques, the condition number of a matrix W obtained from the energy model is minimized, and the scaling of its terms is carried out. An example of a three-degree-of-freedom robot is presented.