Determination of the dynamic parameters of a two-degree of freedom robot link

It is already known that better performance can be achieved through the incorporation of dynamics into robot controllers. However, this subject in robotics is not given much focus due to complexities on modeling the dynamic behavior that is required. This study made will serve as a reference to determine the lumped inertial parameters and an approximation of the viscous friction of a two-degree of freedom robot. By equating the PD control of a lumped link to its Dynamic Control, the relationship between the proportional gain kv to viscous friction and the proportional derivative kp to Inertia can be established. Thus when kv and kp are adjusted to achieve undamped and continuous but constant oscillation respectively, approximation of the viscous friction and dominant inertia would then be determined. Then by taking the robot to different configurations and determining the dominant inertia at that particular position, one would then be able to determine the lumped inertia parameters thru simultaneous equations, using the Inertia Matrix of the Dynamic Model. Presented here is the step by step procedure of determining these parameters, including the derivation of the mathematical dynamic model using the Iterative Newton-Euler dynamic formulation, the experimentation procedures and the experimentation results using the two-degree of freedom robot that lead to the good results