“…Simscape-based physical modeling has been used successfully in many different fields: PV generators in microgrid scenario [7], graphene based nano-electronic systems [8], power PIN diodes [9], wind turbine gearboxs [10], DC motors [11], 3-wheeled electric vehicles [12], and so on. For robot manipulators, several researches using this approach are presented, e.g., Furuta pendulums [13], hexapod robots [14], 3-RPS parallel robotics [15], 2-DOF robots [16], 5-DOF robotic manipulators [17], and successfully simulating a complicated mechanical system [18]. In [19], the paper deals with a system identification problem of Staubli RX-60 robot supported by least squares and particle swarm optimization methods through various measured data of the actual robot that are not always available in practice.…”