# Lie-theory-based dynamic model identification of serial robots considering nonlinear friction and optimal excitation trajectory

> Research article (Robotica, 2024) · cited 10× · AI/ML

**Wikidata**: [openalex:W4403469710](https://www.wikidata.org/wiki/openalex:W4403469710)  
**Source**: https://4ort.xyz/entity/lie-theory-based-dynamic-model-identification-of-serial-robots-considering-nonlinear-friction-and-optimal-excitation-tra