[hosseinsaadatzi]

Hi Hossein,

The method is described in the paper you mentioned:
https://www.sciencedirect.com/science/ar...4512000816

You can use RoboDK to identify these stiffness values. More information here:
//www.sinclairbody.com/doc/en/Robot-Calibrat...acker.html

Albert

Hi Albert,

Thank you for your response.

The software reports the robot parameters like attached image.

I believe it is assumed that the center of gravity of each link is on/along its x axis ( c = [COG ; 0 ; 0]), and mass of some links are negligible (Mass=0). Am I right?

Best,
Hossein