Year: 2025
Type: article
Abstract: This article presents the full dynamic model of the UR10 industrial robot. A triple-stage identification approach is adopted to estimate the manipulator's dynamic coefficients. First, linear parameters are computed using a standard linear regression algorithm. Subsequently, nonlinear friction parameters are estimated according to a sigmoidal model. Lastly, motor drive gains are devised to map estimated joint currents to torques. The overall identified model can be used for both control and planning purposes, as the accompanied robot operating system (ROS)2 software can be easily reconfigured to account for a generic payload. The estimated robot model is experimentally validated against a set of exciting trajectories and compared to the state-of-the-art model for the same manipulator, achieving higher current prediction accuracy (up to a factor of 4.43) and more precise motor gains. The related software is available athttps://codeocean.com/capsule/8515919/tree/v2.
Institution: University of Salerno
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W4407506728