Accurate dynamic parameters are required in the dynamic model–based robot motion controller designing. Experiment-based robot parameter identification is the only way to obtain them effectively, in which motion parameters and actuator torques are measured and used to estimate the actual dynamic model. To simplify the identification procedure and improve the identification precision, a step-by-step identification method was proposed and investigated in this article with dynamic parameters of wrist and elbow joint estimated separately considering the difference in inertia parameters between wrist joint and elbow joint of typical no-load 6-DOF robots. The effectiveness, simplification and high precision compared with the traditional one-step identification method were demonstrated through comparative experiments.
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