A pipeline reduces a robot arm's rigid-body parameters from 65 to 39 via symmetry, fits them with OLS+SDP+CLIE on hand-designed trajectories, selects a central model via PCA, and audits inertia positive-definiteness to yield a feasible, accurate dynamic model.
Motion retouch: Motion modifi- cation using four-channel bilateral control
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A Reproducible and Physically Feasible Dynamic Parameter Identification Framework for a Low-Cost Robot Arm
A pipeline reduces a robot arm's rigid-body parameters from 65 to 39 via symmetry, fits them with OLS+SDP+CLIE on hand-designed trajectories, selects a central model via PCA, and audits inertia positive-definiteness to yield a feasible, accurate dynamic model.