Research Article
Dynamic Model Identification for 6-DOF Industrial Robots
Table 2
Identification dynamic parameters.
| Parameter | Value |
| (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 |
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