Dynamics superposition method for separating torque components of robot manipulators using sinusoidal trajectories

In this study, we propose a technical method — the so-called dynamic superposition method — for separation of dynamic terms of robot manipulators. We lay over a set of dynamic responses from sinusoidal joint trajectories of different cyclic frequencies, so as to disassemble pure inertial, gravitational and/or frictional torques from the full dynamics forces. The benefits are: first to help us identify dynamic parameters in a simpler sequential manner with better reliability, and second to enable us to understand the in-depth dynamic nature of a specific robot system through dissection. Experimental results confirm the effectiveness of the proposed method.