Identification of Six-Axis Robotic Manipulator

1. Study the principles of identification of dynamics of six-axis robotic manipulators.
2. Create a structured model of dynamics of a six-axis robotic manipulator and identify its parameters. Focus on energy consumption of robotic manipulators.
3. Validate the identified model using measurements from a real robot.
4. Study the influence of uncertainties in parameters on the model. Validate your conclusions based on experiments on a real robot.
5. Improve and automate the procedure of measurement data preparation from the database of the long-term energy consumption of robotic cells.