auralius / payload_estimation

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

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".

[e-mail]