This article presents the design of a parameter identification model for industrial manipulator robots. This model includes the dynamics of servomotor-type actuators and therefore is formulated based on acceleration, speed, position and voltage applied to the actuator. In this way, calculating the torque of a joint during motion to estimate parameters, as in the Inverse Dynamic Identification Model (IDIM), is unnecessary. The model proposed is satisfactorily applied to the parameter identification of an industrial redundant robot with 5 Degrees of Freedom (DoF).

中文翻译：

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基于拉格朗日公式和伺服电机型驱动器的工业机器人动态参数辨识

本文介绍了工业机械手机器人参数辨识模型的设计。该模型包括伺服电机型执行器的动力学，因此是基于施加到执行器的加速度、速度、位置和电压制定的。通过这种方式，无需像逆动态识别模型 (IDIM) 那样计算运动过程中关节的扭矩来估计参数。所提出的模型令人满意地应用于具有 5 个自由度 (DoF) 的工业冗余机器人的参数识别。