Research Article

Dynamic Model Identification for 6-DOF Industrial Robots

Table 2

Identification dynamic parameters.

ParameterValue

(kg⋅m2)50.4438
(kg⋅m2)37.7503
(kg⋅m2)16.1693
(kg⋅m2)−23.0075
(kg⋅m2)3.2047
(kg⋅m2)1.5512
(kg⋅m)5.9390
(kg⋅m)46.8898
(kg⋅m2)30.9319
(kg⋅m2)−0.7515
(kg⋅m2)63.2997
(kg⋅m2)−0.4069
(kg⋅m)2.3608
(kg⋅m)1.4471
(N⋅m)−0.0448
(Nm⋅s/rad)0.1144
(N⋅m)11.0195
(Nm⋅s/rad)5.3853
(N⋅m)10.9173
(Nm⋅s/rad)27.3475
(kg⋅m2)2.3092