A pipeline that reduces a robot arm's dynamic model to 39 parameters, fits them via OLS on hand-designed motions, projects to feasible values with SDP, refines with CLIE, and selects a central physically valid model from 40 trajectories.
Verification of the positive definiteness of the inertial matrix of manipulators using base inertial parameters,
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A Reproducible and Physically Feasible Dynamic Parameter Identification Framework for a Low-Cost Robot Arm
A pipeline that reduces a robot arm's dynamic model to 39 parameters, fits them via OLS on hand-designed motions, projects to feasible values with SDP, refines with CLIE, and selects a central physically valid model from 40 trajectories.