Online identification of inertial parameters of a robot with partially combined links using IMU sensing

• Main Authors: Chen, Chensheng, Zhang, Wenwen, Liu, Tao, Zhang, Zhengyuan, Lu, Wenhao, Wang, Lei, Zheng, Yuanjin, Lin, Zhiping
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2023
• Subjects: Engineering::Electrical and electronic engineering; Dynamics Modeling; Initial Position Optimization
• Online Access: https://hdl.handle.net/10356/171314
• Institution: Nanyang Technological University

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...