Robot payload estimation, based on: C. G. Atkeson, C. H. An, and J. M. Hollerbach, “Estimation of Inertial Parameters of Manipulator Loads and Links,” Int. J. Rob. Res., vol. 5, no. 3, pp. 101–119, Sep. 1986
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README.md
do_estimation.m
do_simulation.m
estimate_payload.m
model_6_dof.slx
model_6_dof_r2014b.slx
skew.m

README.md

payload_estimation

Implementation of payload estimation algorithm for a robot.

Reference:
C. G. Atkeson, C. H. An, and J. M. Hollerbach, “Estimation of Inertial Parameters of Manipulator Loads and Links,” Int. J. Rob. Res., vol. 5, no. 3, pp. 101–119, Sep. 1986.

How to Run:

  1. Run "do_simulation.m".
  2. Run "do_estimation.m".

The estimation function:
Check: "estimate_payload.m".

6-DOF rigid body (Simulink + Simmechanics):
Check: "model_6_dof.slx".

Web: auralius.bitbucket.org