{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,9]],"date-time":"2026-03-09T04:05:20Z","timestamp":1773029120488,"version":"3.50.1"},"reference-count":17,"publisher":"Wiley","issue":"1","license":[{"start":{"date-parts":[[2025,8,8]],"date-time":"2025-08-08T00:00:00Z","timestamp":1754611200000},"content-version":"vor","delay-in-days":219,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"},{"start":{"date-parts":[[2025,1,1]],"date-time":"2025-01-01T00:00:00Z","timestamp":1735689600000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/doi.wiley.com\/10.1002\/tdm_license_1.1"}],"funder":[{"DOI":"10.13039\/100017533","name":"Ho Chi Minh City University of Technology and Education","doi-asserted-by":"publisher","award":["T2024-137"],"award-info":[{"award-number":["T2024-137"]}],"id":[{"id":"10.13039\/100017533","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Journal of Robotics"],"published-print":{"date-parts":[[2025,1]]},"abstract":"<jats:p>This paper presents a recursive least squares (RLSs) technique for identifying the payloads acting on the 6\u2010degree\u2010of\u2010freedom (DOF) manipulator during the robot operation. The least squares (LSs) methods were commonly used to identify offline physical parameters. Nevertheless, in scenarios involving time\u2010varying systems with sudden parameter alterations, the LS method may no longer be suitable for estimating dynamic parameters in real time because the LS method is only used once all the measurements are made. Hence, the RLS technique was developed in online scenarios to address this disadvantage. The RLS method is utilised to identify unknown payloads in real\u2010time applications, enabling adaptive estimation during manipulator operation. Besides, the LS method is also applied for determining the initial parameters. Experiments are carried out on the 6\u2010DOF robot with an excitation trajectory designed for it. Afterwards, the data is acquired using a propagation derivative (PD) controller via the Simulink Desktop Real\u2010Time toolbox. Furthermore, the Fourier series and the zero\u2010phase low\u2010pass filter are used to analyse and process the collected signals to estimate the dynamic parameters of the real target by using the RLS method. The estimation of the mass of the payload added to the manipulator is also computed through the variance on some estimated inertial parameters with and without payload. Finally, using the proposed method, the root mean squared error (RMSE) criterion is used to evaluate the accuracy of the estimated results of two case studies.<\/jats:p>","DOI":"10.1155\/joro\/6687246","type":"journal-article","created":{"date-parts":[[2025,8,9]],"date-time":"2025-08-09T04:19:50Z","timestamp":1754713190000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Dynamic Parameters Estimation for a 6\u2010DOF Manipulator Using the Recursive Least Squares Method in Practice"],"prefix":"10.1155","volume":"2025","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6684-0681","authenticated-orcid":false,"given":"Duc Thien","family":"Tran","sequence":"first","affiliation":[]},{"given":"Ngoc Thien","family":"Nguyen","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0009-0008-8182-9908","authenticated-orcid":false,"given":"Hai Ninh","family":"Tong","sequence":"additional","affiliation":[]},{"given":"Nguyen","family":"Van Hiep","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2025,8,8]]},"reference":[{"key":"e_1_2_9_1_2","doi-asserted-by":"publisher","DOI":"10.1007\/s12206-018-0537-6"},{"key":"e_1_2_9_2_2","doi-asserted-by":"crossref","first-page":"1","DOI":"10.54644\/jte.78A.2023.1322","article-title":"Synchronous Sliding Mode Control for a 4-DOF Parallel Manipulator in Practice","volume":"18","author":"Tran D. T.","year":"2023","journal-title":"Journal of Technical Education Science"},{"key":"e_1_2_9_3_2","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2021.3060115"},{"key":"e_1_2_9_4_2","doi-asserted-by":"publisher","DOI":"10.3390\/app12157453"},{"key":"e_1_2_9_5_2","doi-asserted-by":"publisher","DOI":"10.1007\/s12555-023-0153-9"},{"key":"e_1_2_9_6_2","doi-asserted-by":"publisher","DOI":"10.1007\/s12541-020-00427-4"},{"key":"e_1_2_9_7_2","doi-asserted-by":"crossref","unstructured":"NguyenN. T. NguyenT. N. T. TongH. N. TruongH. V. A. andTranD. T. Dynamic Parameter Identification Based on the Least Squares method for a 6-DOF Manipulator 2023 International Conference on System Science and Engineering (ICSSE) Ho Chi Minh Vietnam IEEE 301\u2013305.","DOI":"10.1109\/ICSSE58758.2023.10227164"},{"key":"e_1_2_9_8_2","doi-asserted-by":"crossref","unstructured":"FarsoniS. LandiC. T. FerragutiF. SecchiC. andBonf\u00e8M. Real-Time Identification of Robot Payload Using a Multirate Quaternion-Based Kalman Filter and Recursive Total Least-Squares 2018 IEEE International Conference on Robotics and Automation (ICRA) Brisbane QLD Australia IEEE 2103\u20132109.","DOI":"10.1109\/ICRA.2018.8461167"},{"key":"e_1_2_9_9_2","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2021.3074419"},{"key":"e_1_2_9_10_2","doi-asserted-by":"publisher","DOI":"10.1016\/S0967-0661(01)00105-8"},{"key":"e_1_2_9_11_2","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.3012196"},{"key":"e_1_2_9_12_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2010.03.013"},{"key":"e_1_2_9_13_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.jsv.2006.07.043"},{"key":"e_1_2_9_14_2","doi-asserted-by":"crossref","unstructured":"ArmstrongB. KhatibO. andBurdickJ. 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