{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,25]],"date-time":"2026-03-25T23:35:56Z","timestamp":1774481756631,"version":"3.50.1"},"reference-count":33,"publisher":"MDPI AG","issue":"24","license":[{"start":{"date-parts":[[2022,12,11]],"date-time":"2022-12-11T00:00:00Z","timestamp":1670716800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Institute of Information &amp; communication Technology Planning &amp; Evaluation (IITP) grant funded by the Korean Government (MSIT)","award":["2020-0-00857"],"award-info":[{"award-number":["2020-0-00857"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Accurate dynamic model is critical for collaborative robots to achieve satisfactory performance in model-based control or other applications such as dynamic simulation and external torque estimation. Such dynamic models are frequently restricted to identifying important system parameters and compensating for nonlinear terms. Friction, as a primary nonlinear element in robotics, has a significant impact on model accuracy. In this paper, a reliable dynamic friction model, which incorporates the influence of temperature fluctuation on the robot joint friction, is utilized to increase the accuracy of identified dynamic parameters. First, robot joint friction is investigated. Extensive test series are performed in the full velocity operating range at temperatures ranging from 19 \u00b0C to 51 \u00b0C to investigate friction dependency on joint module temperature. Then, dynamic parameter identification is performed using an inverse dynamics identification model and weighted least squares regression constrained to the feasible space, guaranteeing the optimal solution. Using the identified friction model parameters, the friction torque is computed for measured robot joint velocity and temperature. Friction torque is subtracted from the measured torque, and a non-friction torque is used to identify dynamic parameters. Finally, the proposed notion is validated experimentally on the Indy7 collaborative robot manipulator, and the results show that the dynamic model with parameters identified using the proposed method outperforms the dynamic model with parameters identified using the conventional method in tracking measured torque, with a relative improvement of up to 70.37%.<\/jats:p>","DOI":"10.3390\/s22249708","type":"journal-article","created":{"date-parts":[[2022,12,12]],"date-time":"2022-12-12T05:10:19Z","timestamp":1670821819000},"page":"9708","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":16,"title":["A Two-Step Method for Dynamic Parameter Identification of Indy7 Collaborative Robot Manipulator"],"prefix":"10.3390","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3016-210X","authenticated-orcid":false,"given":"Meseret","family":"Tadese","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, Sungkyunkwan University, Suwon 16419, Gyeonggi-do, Republic of Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3516-0461","authenticated-orcid":false,"given":"Nabih","family":"Pico","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Sungkyunkwan University, Suwon 16419, Gyeonggi-do, Republic of Korea"},{"name":"Facultad de Ingenier\u00eda en Electricidad y Computaci\u00f3n, Escuela Superior Polit\u00e9cnica del Litoral, ESPOL, Campus Gustavo Galindo, Guayaquil 09-01-5863, Ecuador"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7862-7936","authenticated-orcid":false,"given":"Sungwon","family":"Seo","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Sungkyunkwan University, Suwon 16419, Gyeonggi-do, Republic of Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1091-0716","authenticated-orcid":false,"given":"Hyungpil","family":"Moon","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Sungkyunkwan University, Suwon 16419, Gyeonggi-do, Republic of Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2022,12,11]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1299","DOI":"10.1109\/TMECH.2017.2674701","article-title":"MPC for robot manipulators with integral sliding modes generation","volume":"22","author":"Incremona","year":"2017","journal-title":"IEEE\/ASME Trans. 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