Force-based centre of mass estimation technique for rigid objects in robotics applications
This project aims to develop a method to estimate the 3D inertial parameters of an object using a Kinova robot arm and force/torque sensors. Inertial parameters, such as the centre of mass, are crucial for achieving stability in grasping and manipulation tasks. The current methods for estimating the...
| Main Author: | |
|---|---|
| Other Authors: | |
| Format: | Final Year Project (FYP) |
| Language: | English |
| Published: |
Nanyang Technological University
2023
|
| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/168373 |