A hydraulic curtain wall installation robot is modeled with D-H kinematics and a Stribeck friction model, and its 18 minimal inertial parameters are fitted by least squares, yielding in-sample torque residuals below 0.4 Nm.
Lie-theory-based dynamic model identification of serial robots considering nonlinear friction and optimal excitation trajectory,
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Dynamic Parameter Identification of a Curtain Wall Installation Robotic Arm
A hydraulic curtain wall installation robot is modeled with D-H kinematics and a Stribeck friction model, and its 18 minimal inertial parameters are fitted by least squares, yielding in-sample torque residuals below 0.4 Nm.