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In this research, an improved iterative approach with a comprehensive friction model for dynamic model identification is proposed for collaborative robots when the joint velocity, temperature and load torque effects are considered. Experiments are conducted on the AUBO I5 collaborative robots. Two other existing identification algorithms are adopted to make comparison with the proposed approach. It is verified that the average error of the proposed I-IRLS algorithm is reduced by over 14% than that of the classical IRLS algorithm. The proposed I-IRLS method can be widely used in various application scenarios of collaborative robots.<\/jats:p>","DOI":"10.1017\/s0263574724000341","type":"journal-article","created":{"date-parts":[[2024,3,20]],"date-time":"2024-03-20T08:23:51Z","timestamp":1710923031000},"page":"1500-1522","source":"Crossref","is-referenced-by-count":11,"title":["An improved iterative approach with a comprehensive friction model for identifying dynamic parameters of collaborative robots"],"prefix":"10.1017","volume":"42","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2961-5565","authenticated-orcid":false,"given":"Zeyu","family":"Li","sequence":"first","affiliation":[]},{"given":"Hongxing","family":"Wei","sequence":"additional","affiliation":[]},{"given":"Chengguo","family":"Liu","sequence":"additional","affiliation":[]},{"given":"Ye","family":"He","sequence":"additional","affiliation":[]},{"given":"Gang","family":"Liu","sequence":"additional","affiliation":[]},{"given":"Haochen","family":"Zhang","sequence":"additional","affiliation":[]},{"given":"Weiming","family":"Li","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2024,3,20]]},"reference":[{"key":"S0263574724000341_ref16","doi-asserted-by":"crossref","first-page":"104699","DOI":"10.1016\/j.conengprac.2020.104699","article-title":"Sequential semidefinite optimization for physically and statistically consistent robot identification","volume":"107","author":"Janot","year":"2021","journal-title":"Control Eng Pract"},{"key":"S0263574724000341_ref21","unstructured":"[21] Walter, V. , \u201cExperimental robot and payload identification with application to dynamic trajectory compensation,\u201d (2004). 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