陆金伟. 机器人臂的模型参数识别及其仿真[J]. 机器人, 1993, 15(3): 48-53..
LU Jinwei. IDENTIFICATION FOR MODEL PARAMETERS OF A ROBOTIC MANIPULATOR AND ITS SIMULATION. ROBOT, 1993, 15(3): 48-53..
Abstract：A method for identifying model parameters of a robotic manipulator is proposed,which minimizes the num-ber of model parameters appearing in dynamic equations of a manipulator through a regrouping procedure forthe Lagrangian functions of the manupulator and formulates the identification model with the model parameters in an upper block triangular form.The least squares method and Runge-Kutta are used in simulation ofidentification of model parameters of a two-link manipulator.
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