A Dual Quaternion-Based Discrete Variational Approach for Accurate and Online Inertial Parameter Estimation in Free-Flying obots
Monica Ekal,Rodrigo Ventura,Monica Ekal,Rodrigo Ventura
The performance of model-based motion control for free-flying robots relies on accurate estimation of their parameters. In this work, a method of rigid body inertial parameter estimation which relies on a variational approach is presented. Instead of discretizing the continuous equations of motion, discrete dual quaternion equations based on variational mechanics are used to formulate a linear par...
