Generalizes robot dynamics to time-dependent inertial parameters and proves that uniform physical consistency plus upper boundedness preserve finite positive uniform bounds on the mass matrix.
Identification of fully physical consistent inertial parameters using optimization on manifolds
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On robotic manipulators with time-dependent inertial parameters: From physical consistency to boundedness of the mass matrix
Generalizes robot dynamics to time-dependent inertial parameters and proves that uniform physical consistency plus upper boundedness preserve finite positive uniform bounds on the mass matrix.