Real time identification of robot dynamic parameters using parallel processing Part 2: implementation and testing

The paper implements and demonstrates a parallel recursive estimator for the real-time identification of dynamic parameters for a general n-link high performance robot. The implementation entails the use of a parallel processor platform which includes the real-time simulation of the forward dynamics of the robot. The parallel estimator is first tested for parameter convergence using PRBS test signals and then tested in a closed loop robot control environment. A case study is presented showing the real-time convergence of the dynamic parameters following the application of a payload.