On-line estimation of inertial parameters using a recursive total least-squares approach

@article{Kubus2008OnlineEO,
  title={On-line estimation of inertial parameters using a recursive total least-squares approach},
  author={Daniel Kubus and Torsten Kr{\"o}ger and Friedrich M. Wahl},
  journal={2008 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2008},
  pages={3845-3852}
}
The estimation of the ten inertial parameters of rigid loads, which are attached to manipulators, may benefit several robotics applications, e.g.: force control, object recognition, and pose estimation. These applications require sufficiently accurate, robust, and fast estimation of the inertial parameters. Existing approaches, however, do not allow for robust on-line estimation, since they use standard batch least-squares techniques, which ignore noise in the data matrix. The proposed approach… CONTINUE READING
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