Tan, Chao; Zhao, Huan; Ding, Han - In: Industrial Robot: the international journal of robotics … 49 (2022) 6, pp. 1229-1241
Purpose Branched articulated robots (BARs) are highly non-linear systems; accurate dynamic identification is critical for model-based control in high-speed and heavy-load applications. However, due to some dynamic parameters being redundant, dynamic models are singular, which increases the...