Bayesian estimation of inertial parameters of robots

Abstract

The authors present a Bayesian approach using an energy model to identify the base (identifiable) inertial parameters of a robot, given a prior statistical information (expected value and covariance matrix) about the solution vector. An application of a three-degree-of-freedom robot is simulated to show the efficiency of the method.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>