The use of accurate dynamic models plays a role of paramount importance in the development of efficient and accurate robotic applications. Model-based techniques are at the heart of the development of advanced control strategies, and are extremely useful for planning time-efficient or energy efficient tasks, or to control the interaction with humans in a collaborative framework. The availability of accurate dynamic models for industrial robots is however often limited due to the fact that manufacturers rarely disclose sufficient technical data to build a reliable dynamic model, hence the need to use model identification techniques. This paper presents the results of the use of a model identification technique for a serial robot, augmented with a regularization procedure, applied to the Mitsubishi RV-5AS-D-S01 industrial robot.
REGULARIZED DYNAMIC PARAMETER IDENTIFICATION FOR THE MITSUBISHI RV-5AS-D-S01 ROBOT
Boscariol P.;Bottin M.;Lenzo B.;Rosati G.
2025
Abstract
The use of accurate dynamic models plays a role of paramount importance in the development of efficient and accurate robotic applications. Model-based techniques are at the heart of the development of advanced control strategies, and are extremely useful for planning time-efficient or energy efficient tasks, or to control the interaction with humans in a collaborative framework. The availability of accurate dynamic models for industrial robots is however often limited due to the fact that manufacturers rarely disclose sufficient technical data to build a reliable dynamic model, hence the need to use model identification techniques. This paper presents the results of the use of a model identification technique for a serial robot, augmented with a regularization procedure, applied to the Mitsubishi RV-5AS-D-S01 industrial robot.
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