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...
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| Format: | Final Year Project |
| Language: | English |
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Nanyang Technological University
2023
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| Online Access: | https://hdl.handle.net/10356/168373 |
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| Institution: | Nanyang Technological University |
| Language: | English |