Ya-Yun Hsiao2026-10-162026-10-162024-01-01Pure ID: 15184645Pure UUID: 197bd0ba-8ff3-49c0-a943-5a10fcb3570ahttps://www.scopus.com/pages/publications/85216411506https://scholars.csmu.edu.tw/handle/123456789/27963This paper discusses safety concerns and technological advancements in human-robot collaboration. It emphasizes the importance of safety standards like ISO/TS 15066 and explores collision detection techniques. It highlights challenges in obtaining accurate dynamic model parameters and proposes methods for their estimation. Excitation trajectory design and matrix condition number play a crucial role in accurate parameter identification. A parameter identification approach is presented by integrating an iterative Newton-Euler method, a least squares method, a procedure for eliminating linear dependencies, and an exciting trajectory design with a condition number for a robotic arm. The effectiveness of the proposed approach is exemplified by carrying out a numerical simulation with a 6-Dof industrial robotic arm, HIWIN RA605-710 robotic manipulator. MATLAB's symbolic math toolbox facilitates symbolic computations, incorporating dynamic parameters such as Coulomb friction, viscous friction, inertial tensor, and link masses.6enjournal article