@conference {ULICI2022136,
	title = {ROS-based Toolbox for Motor Parameter Identification of Robotic Manipulators},
	booktitle = {6th IFAC conference on Intelligent Control and Automation Sciences},
	volume = {55},
	number = {15},
	year = {2022},
	note = {6th IFAC Conference on Intelligent Control and Automation Sciences ICONS 2022},
	pages = {136-141},
	publisher = {IFAC},
	organization = {IFAC},
	address = {Cluj-Napoca, Romania},
	abstract = {<p>For many applications, a precise knowledge of the model of the robot is necessary for accurate and stable control. However, it is not always feasible or desirable to perform from scratch an in-depth study of the robot model, especially if it is not an element of concern for the respective application. In this article, we present a methodology for identifying motor parameters of a robotic manipulator. We discuss the mathematical model and introduce an extensible toolbox with velocity-control based methodology for a fast identification of individual motor parameters. The results show that we can identify individual parameters even for joints that are commercialised as of the same type.</p>
},
	keywords = {identification for control, robots manipulators, ROS, UR5 robot},
	issn = {2405-8963},
	doi = {https://doi.org/10.1016/j.ifacol.2022.07.621},
	url = {https://www.sciencedirect.com/science/article/pii/S2405896322010321},
	author = {I. Ulici and A. Codrean and T. Natsakis}
}
