Consistent dynamic model identification of the Stäubli RX-160 industrial robot using convex optimization method - Argin, Omer Faruk; Bayraktaroglu, Zeki Yagiz (Journal of mechanical science and technology, 2021)
Keywords: Computational geometry; Control; Control systems design; Convex analysis; Convexity; Dynamic models; Dynamical Systems; End effectors; Engineering; Friction; Industrial and Production Engineering; Industrial robots; Low speed; Mechanical Engineering; Optimization; Original Article; Parameter estimation; Parameter identification; Performance evaluation; Robot arms; Robots; Springs (elastic); Vibration; 기계공학; Industrial robots; Excitation trajectory; Convex optimization; Dynamic model identification; Force estimation