{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,2]],"date-time":"2026-01-02T17:16:54Z","timestamp":1767374214864,"version":"3.38.0"},"reference-count":28,"publisher":"SAGE Publications","issue":"10","license":[{"start":{"date-parts":[[2012,9,24]],"date-time":"2012-09-24T00:00:00Z","timestamp":1348444800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering"],"published-print":{"date-parts":[[2012,11]]},"abstract":"<jats:p> The dynamic and friction parameters of a robot are used in advanced control schemes, and their accuracy significantly affects their performance. These parameters can also be used for a realistic simulation. In principle, the numerical value of the parameters could be obtained via computer-aided design analysis but inevitable assembly and manufacturing errors exist. Direct measurement is not a realistic option because the complex nature of the system would involve an intense time-consuming effort. Alternatively, we can deduce the values of the parameters by observing the natural response of the system under appropriate experimental conditions, that is, by using identification schemes. This article presents the experimental evaluation of five identification schemes used to obtain the dynamic and friction parameters of a two-degree-of-freedom, direct-drive robot. We assume that the dynamic and friction parameters are totally unknown but, by design, the dynamic model is fully known. We consider the schemes based on the dynamic regression model, filtered-dynamic regression model, supplied-energy regression model, power regression model, and filtered-power regression model. The article presents a comparison between experimental and simulated robot responses, which enable us to verify the accuracy of each regression model. <\/jats:p>","DOI":"10.1177\/0959651812456795","type":"journal-article","created":{"date-parts":[[2012,9,25]],"date-time":"2012-09-25T00:27:35Z","timestamp":1348532855000},"page":"1419-1431","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":9,"title":["Experimental evaluation of parameter identification schemes on a direct-drive robot"],"prefix":"10.1177","volume":"226","author":[{"given":"C\u00e9sar A","family":"Ch\u00e1vez-Olivares","sequence":"first","affiliation":[{"name":"Centro de Investigaci\u00f3n y Estudios de Posgrado, Universidad Aut\u00f3noma de San Luis Potos\u00ed, Mexico"}]},{"given":"Fernando","family":"Reyes-Cort\u00e9s","sequence":"additional","affiliation":[{"name":"Grupo de Rob\u00f3tica, Benem\u00e9rita Universidad Aut\u00f3noma de Puebla, Mexico"}]},{"given":"Emilio J","family":"Gonz\u00e1lez-Galv\u00e1n","sequence":"additional","affiliation":[{"name":"Centro de Investigaci\u00f3n y Estudios de Posgrado, Universidad Aut\u00f3noma de San Luis Potos\u00ed, Mexico"}]},{"given":"Marco O","family":"Mendoza-Guti\u00e9rrez","sequence":"additional","affiliation":[{"name":"Departamento de Investigaci\u00f3n en F\u00edsica, Universidad de Sonora, Mexico"}]},{"given":"Isela","family":"Bonilla-Guti\u00e9rrez","sequence":"additional","affiliation":[{"name":"Facultad de Ciencias, Universidad Aut\u00f3noma de San Luis Potos\u00ed, Mexico"}]}],"member":"179","published-online":{"date-parts":[[2012,9,24]]},"reference":[{"volume-title":"Control of robot manipulators in joint space","year":"2005","author":"Kelly R","key":"bibr1-0959651812456795"},{"key":"bibr2-0959651812456795","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4471-1501-4"},{"key":"bibr3-0959651812456795","doi-asserted-by":"publisher","DOI":"10.1109\/9.376053"},{"key":"bibr4-0959651812456795","doi-asserted-by":"publisher","DOI":"10.1109\/MCS.2008.929425"},{"key":"bibr5-0959651812456795","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1994.351272"},{"first-page":"397","volume-title":"Proceedings of 13th IFAC world congress","author":"Kozlowski K","key":"bibr6-0959651812456795"},{"first-page":"1210","volume-title":"Proceedings of the 1987 IEEE international conference on robotics and automation","author":"Hsu P","key":"bibr7-0959651812456795"},{"first-page":"2264","volume-title":"Proceedings of the 27th IEEE conference on decision and control","author":"Gautier M","key":"bibr8-0959651812456795"},{"key":"bibr9-0959651812456795","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574797000659"},{"first-page":"178","volume-title":"Proceedings of the IFAC\u201990 congress","author":"Canudas De Wit C","key":"bibr10-0959651812456795"},{"key":"bibr11-0959651812456795","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574706002645"},{"key":"bibr12-0959651812456795","doi-asserted-by":"publisher","DOI":"10.1023\/B:MUBO.0000029426.05860.c2"},{"first-page":"144","volume-title":"11th international conference on control automation robotics vision (ICARCV)","author":"Kinsheel A","key":"bibr13-0959651812456795"},{"key":"bibr14-0959651812456795","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1987.1087968"},{"key":"bibr15-0959651812456795","doi-asserted-by":"publisher","DOI":"10.1177\/027836499201100408"},{"key":"bibr16-0959651812456795","doi-asserted-by":"publisher","DOI":"10.1109\/70.631234"},{"key":"bibr17-0959651812456795","doi-asserted-by":"publisher","DOI":"10.1109\/MCS.2007.904659"},{"key":"bibr18-0959651812456795","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2010.03.013"},{"key":"bibr19-0959651812456795","doi-asserted-by":"publisher","DOI":"10.1016\/j.eswa.2010.09.076"},{"first-page":"373","volume-title":"2011 IEEE\/ASME international conference on advanced intelligent mechatronics (AIM)","author":"Choi JS","key":"bibr20-0959651812456795"},{"issue":"99","key":"bibr21-0959651812456795","first-page":"1","author":"Gautier M","year":"2012","journal-title":"IEEE T Contr Syst T"},{"key":"bibr22-0959651812456795","doi-asserted-by":"publisher","DOI":"10.1109\/CDC.1985.268838"},{"key":"bibr23-0959651812456795","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600500306"},{"key":"bibr24-0959651812456795","unstructured":"Reyes-Cort\u00e9s JF. 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