Research on Identification of Minimum Parameter Set in Robot Dynamics and Excitation Strategy

The minimal parameter set is fundamental to robot dynamic identification, enabling efficient and identifiable modeling for control and simulation. In this paper, the Newton–Euler method is employed to formulate the robot dynamics. By leveraging screw theory, the model is expressed in a matrix form t...

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Detalhes bibliográficos

Principais autores:	Zhiqiang Wang, Jianhai Han, Xiangpan Li, Bingjing Guo, Lewei Lu
Formato:	Artigo
Idioma:	Inglês
Publicado em:	MDPI AG 2025-09-01
coleção:	Sensors
Assuntos:	robot dynamic parameter identification screw theory linear matrix equation least squares method
Acesso em linha:	https://www.mdpi.com/1424-8220/25/18/5749
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