Apparatus for extracting drive characteristic of drive system

An apparatus for extracting a drive characteristic of a drive system, comprising:

• a drive unit configured to supply a rotating force to a drive shaft;
• a force-torque sensor unit detachably coupled to the drive shaft of the drive unit;
• a load unit detachably coupled to the drive shaft of the drive unit;
• and
• a control unit configured to control drive energy supplied to the drive unit, derive a drive-unit constant by using a relation between the input drive energy and measurement torque measured by a rotating force of the drive shaft from the force-torque sensor unit when the drive unit is coupled to the force-torque sensor unit, calculate a frictional torque using the derived drive-unit constant, the input drive energy, an inertia moment of the load unit, and angular acceleration of the load unit caused by a rotating force when the drive unit is coupled to the load unit, and deriving a frictional coefficient from the calculated frictional torque.