Multi-Input-Multi-Output

This paper presents a coupled dynamics identification method based on the MIMO feature for a robotic manipulator with differential modular joints (DMJs) designed for lifting in daily nursing care, which can accurately obtain dynamic model parameters and lay a foundation for future force-control research.

Friction modeling for differential modular robot joint (DMRJ) is established based on the coupling characteristic of MIMO system and Coulomb-Viscous friction model, and the coefficients are identified through experiments. The accuracy of the model is verified by building an inertial dynamic model and using a Fourier series trajectory.