This article presents the design and validation of a regression model for the identification of dynamic parameters in manipulator robots. The model exhibits implementation advantages as it is based on the acquisition of position, speed and voltage data from the actuator in each joint rather than on the calculation of acceleration and torque. Actuators can be direct current and/or servomotor type. The regression model developed is simulated using MATLAB/Simulink software to identify the parameters of 2-DoF (Degrees of Freedom) and 5-DoF manipulator robots. Additionally, the model is experimentally validated on a real 5-DoF redundant manipulator robot. The identification model has great advantages in terms of implementation.

本文介绍了用于识别机械手动态参数的回归模型的设计和验证。该模型具有实现优势，因为它基于从每个关节中的执行器获取位置，速度和电压数据，而不是基于加速度和扭矩的计算。执行器可以是直流型和/或伺服电机型。使用MATLAB / Simulink软件对开发的回归模型进行仿真，以识别2-DoF（自由度）和5-DoF机械手机器人的参数。此外，该模型在真实的5自由度冗余机械手机器人上进行了实验验证。识别模型在实施方面具有很大的优势。