Dynamic Identification of the Franka Emika Panda Robot With Retrieval of Feasible Parameters Using Penalty-Based Optimization

Claudio Gaz, Marco Cognetti, Alexander Oliva, Paolo Robuffo Giordano, Alessandro De Luca

The software packages and the source code related to [1] is downloadable at https://github.com/marcocognetti/FrankaEmikaPandaDynModel.

2020-03-24: C++ Code of the Panda Dynamic Model (version 1.0) added.

2019-10-15: Updated version of the Supplementary material added (in pdf format).

2019-09-04: Matlab Code of the Panda Dynamic Model (version 1.0) added.

2019-08-12: V-REP dynamic model added.

2019-08-02: Matlab Code of the Parameters Retrieval algorithm (version 1.0) added.

Errata

• Supplementary material, page 1. The correct value of parameter φ₁ for joint 2 is 0.87224, not 8722.4

[1] C. Gaz, M. Cognetti, A. Oliva, P. Robuffo Giordano, A. De Luca, "Dynamic identification of the Franka Emika Panda robot with retrieval of feasible parameters using penalty-based optimization," IEEE Robotics and Automation Letters, vol. 4, no. 4, pp. 4147-4154, 2019 [online since 25 Jul 2019] (pdf in IEEE Xplore) [multimedia (video + supplementary material)] DOI:10.1109/LRA.2019.2931248.