{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,6]],"date-time":"2026-03-06T14:41:54Z","timestamp":1772808114003,"version":"3.50.1"},"reference-count":0,"publisher":"Cambridge University Press (CUP)","issue":"5","license":[{"start":{"date-parts":[[1997,9,1]],"date-time":"1997-09-01T00:00:00Z","timestamp":873072000000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[1997,9]]},"abstract":"<jats:p>This paper describes the experimental evaluation of three \nidentification schemes to determine the dynamic parameters of a two \ndegrees of freedom direct-drive robot. These schemes involve a recursive \nestimator while the regression models are formulated in continuous time. \nThe fact that the total energy of robot manipulators can be represented \nas a linear relation in the inertial parameters, has motivated the suggestion \nin the literature of several regression models which are linear in a common \ndynamic parameter vector. Among them, in this paper we consider the schemes \nbased on the filtered dynamic regression model, the supplied energy regression \nmodel and a new one proposed in this paper: the filtered power regression model. \nThe underling recursive parameter estimator used in the experimental evaluation \nis the standard least-squares.<\/jats:p>","DOI":"10.1017\/s0263574797000659","type":"journal-article","created":{"date-parts":[[2002,7,27]],"date-time":"2002-07-27T09:36:08Z","timestamp":1027762568000},"page":"563-571","source":"Crossref","is-referenced-by-count":91,"title":["Experimental Evaluation of Identification Schemes on a Direct Drive Robot"],"prefix":"10.1017","volume":"15","author":[{"given":"Fernando","family":"Reyes","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Rafael","family":"Kelly","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[1997,9,1]]},"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574797000659","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,8]],"date-time":"2019-04-08T16:35:58Z","timestamp":1554741358000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574797000659\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1997,9]]},"references-count":0,"journal-issue":{"issue":"5","published-print":{"date-parts":[[1997,9]]}},"alternative-id":["S0263574797000659"],"URL":"https:\/\/doi.org\/10.1017\/s0263574797000659","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[1997,9]]}}}