I know of several robot manufacturers who can perform automatic inertial measurement for 6 axis robots. Fanuc, for example, moves with axes 5 and 6 each from +180 to -180 °, once with and once without load. My question is how I can calculate the inertia parameter from e.g. the torques and the positions (thus also from speeds and accelerations) for each individual axis. There are some papers about this, but no practical examples (e.g. https://hal.archives-ouvertes.fr/hal-00362677/document). Can anyone help me with this?
My goal would be to run a trajectory once with and once without load and calculate mass and inertia of load, I found some topics here but none of them directly regarding to my question (in my opinion).
Thanks for your effort.