Robot Dynamics Identification

Giacomo Golluccio, Giuseppe Gillini, Alessandro Marino & Gianluca Antonelli
This matlab code allows to reproduce some of the constrained and unconstrained dynamic identification techniques for open-chain robots. Below you can find an summary of the underlying research."Identification of dynamic parameters of robots is a long standing topic in robot control. Recently, the research witnessed a renewal of the activity due to some interesting results concerning issues involving the physical consistency of the obtained parameters leading to constraints, for instance, on mass, first moment of...
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