The International Journal of Robotics Research Study, Ahead of Publish.
This paper offers a formula to geometrically define inertial specification identifiability for a verbalized robotic. The geometric technique examinations identifiability throughout the boundless room of arrangements utilizing just a limited collection of problems and without estimation. It can be put on basic open-chain kinematic trees varying from commercial manipulators to legged robotics, and it is the very first service for this wide collection of systems that is provably appropriate. The top-level procedure of the formula is based upon an essential monitoring: Undetected adjustments in inertial specifications can be stood for as series of inertial transfers throughout the joints. Making use of the rapid parameterization of rigid-body kinematics, undetected inertial transfers are evaluated in regards to observability from direct systems concept. This evaluation can be used recursively, and provides a total intricacy of O(N) to define specification identifiability for a system of N bodies. Matlab resource code for the brand-new formula is given.
发布者：Patrick M. Wensing，转转请注明出处：https://robotalks.cn/a-geometric-characterization-of-observability-in-inertial-parameter-identification/
