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• W2892147826 abstract "The paper describes an estimation and identification procedure that allows to reconstruct the inertial parameters of a rigid load attached to the end-effector of an industrial manipulator. In particular, the proposed method adopts a multirate quaternion-based Kalman filter, fusing measurements obtained from robot kinematics and inertial sensors at possibly different sampling frequencies, to estimate linear accelerations and angular velocities/accelerations of the load. Then, a recursive total least-squares (RTLS) process is executed to identify the load parameters. Both steps of the estimation and identification procedure are performed in real-time, without the need for offline post-processing of measured data." @default.
• W2892147826 created "2018-09-27" @default.
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• W2892147826 date "2018-05-01" @default.
• W2892147826 modified "2023-09-23" @default.
• W2892147826 title "Real-Time Identification of Robot Payload Using a Multirate Quaternion-Based Kalman Filter and Recursive Total Least-Squares" @default.
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• W2892147826 doi "https://doi.org/10.1109/icra.2018.8461167" @default.
• W2892147826 hasPublicationYear "2018" @default.
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