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Inertial Parameter Estimation

Created Freitag 06 Mai 2016

Reconstructing the following paper:

Rigid body inertial parameters estimation using least square method, based on:

A rigid body, moving in 3D space of 6-DOFs (x,y,z,r,p,y). The inertial parameters include: mass, center-of-mass, and inertias. There are 10 parameters in total to estimate:

  1. Ixx
  2. Ixy
  3. Ixz
  4. Ixx
  5. Iyy
  6. Izz
  7. CoMx
  8. CoMy
  9. CoMz
  10. Mass

The codes uploaded to:
https://github.com/auralius/payload_estimation