Dynamics Parametrization and Calibration of Flexible-Joint Collaborative Industrial Robot Manipulators

Table 5

Normalized Mean Squared Error (NMSE) of the dynamic models; CAD model with parameters obtained from a CAD model of the robot and calibrated with parameters estimated through the WLS procedure with rotor dynamics compensation. Improvements in NMSE and relative to CAD model for three different trajectories.

Traj.	NMSE CAD model	NMSE calibrated	Relative improvement (%)
1	325.9	233.0	28.5
2	1245.7	1040.4	16.5
3	334.0	250.9	24.9