Online identification of inertial parameters of a robot with partially combined links using IMU sensing
Accurate calculation of joint acceleration online is critical for detecting robot collisions when used in inverse dynamics to calculate joint torques. The conventional method for calculating joint acceleration is to employ the twice differentiation based on encoder data, which suffers from the probl...
| Main Authors: | , , , , , , , |
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| Other Authors: | |
| Format: | Journal Article |
| Language: | English |
| Published: |
2023
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/171314 |