Uploaded May 2018 | Updated September 2026, 2 weeks ago
ICRA 2018 Spotlight Video
Interactive Session Tue PM Pod N.3
Authors: Farsoni, Saverio; Talignani Landi, Chiara; Ferraguti, Federica; Secchi, Cristian; Bonfe, Marcello
Title: Real-Time Identification of Robot Payload Using a Multirate Quaternion-Based Kalman Filter and Recursive Total Least-Squares
Abstract:
The paper describes an estimation and identification procedure that allows to reconstruct the inertial parameters of a rigid load attached to the end-effector of an industrial manipulator. In particular, the proposed method adopts a multirate quaternion-based Kalman filter, fusing measurements obtained from robot kinematics and inertial sensors at possibly different sampling frequencies, to estimate linear accelerations and angular velocities/accelerations of the load. Then, a recursive total least-squares (RTLS) process is executed to identify the load parameters. Both steps of the estimation and identification procedure are performed in real-time, without the need for offline post-processing of measured data.
ICRA 2018 Spotlight Video
Interactive Session Tue PM Pod N.3
Authors: Farsoni, Saverio; Talignani Landi, Chiara; Ferraguti, Federica; Secchi, Cristian; Bonfe, Marcello
Title: Real-Time Identification of Robot Payload Using a Multirate Quaternion-Based Kalman Filter and Recursive Total Least-Squares
Abstract:
The paper describes an estimation and identification procedure that allows to reconstruct the inertial parameters of a rigid load attached to the end-effector of an industrial manipulator. In particular, the proposed method adopts a multirate quaternion-based Kalman filter, fusing measurements obtained from robot kinematics and inertial sensors at possibly different sampling frequencies, to estimate linear accelerations and angular velocities/accelerations of the load. Then, a recursive total least-squares (RTLS) process is executed to identify the load parameters. Both steps of the estimation and identification procedure are performed in real-time, without the need for offline post-processing of measured data.
