KUKA LWR 4+ Dynamic Model

This page accompanies the following papers:

Identifying the Dynamic Model Used by the KUKA LWR: A Reverse Engineering Approach (C. Gaz, F. Flacco, A. De Luca), Proc. IEEE Int. Conf. on Robotics an Automation, pp. 1386-1392, 2014
Dynamic Identification and Control Issues for Collaborative Robots: The KUKA LWR 4+ Case (C. Gaz, M. Cefalo, A. De Luca), currently under review for the Robotica journal

Note. This page will be expanded and completed with additional material upon acceptance of the Robotica paper.

Results of a validation experiment: The robot executes the reference link trajectories shown below in color, under position control mode in the KUKA FRI. In the following figures, we show the time evolution of the seven diagonal elements M_ii, for i=1,..., 7, of the link inertia matrix. The data retrieved through the KUKA FRI are shown in blue. The predictions obtained using the identified dynamic model (obtained on different trajectories) evaluated with the link positions retrieved through the FRI are shown in green. In practice, the agreement is complete (the (7,7) element has a constant error in the order of 10^(-7) kgm^2).

At the bottom of the page, you can download a zipped file with the comparison plots on all the (28, in a symmetric 7x7 matrix) inertial and (7) gravity terms.

KUKA LWR Dynamic Model