This article presents a practical method for determining the dynamic parameters of robotic arms. The two unique features of the method are that it determines the friction parameters along with the inertia and mass parameters and that it does not require the measurement of joint accelerations. The method is demonstrated experimentally by determining the dynamic parameters of a closed‐chain direct‐drive arm. The precision of the determined parameter was verified in the context of computed torquebased controllers. Statistical analysis also shows that the estimated values are reliable.
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Lu et al. (1993) studied this question.