Online Payload Identification for Tactile Robots Using the Momentum Observer
Alexander Kurdas,Mazin Hamad,Jonathan Vorndamme,Nico Mansfeld,Saeed Abdolshah,Sami Haddadin,Alexander Kurdas,Mazin Hamad,Jonathan Vorndamme,Nico Mansfeld,Saeed Abdolshah,Sami Haddadin
Knowledge of the robot's load inertial parameters is indispensable for accurate and safe operation, especially in collaborative robotics. However, an intuitive method for online inertial payload identification, usable while the robot is executing another online generated task, is still lacking. In this work, we propose an online payload identification approach based on the momentum observer using ...
