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    • Estimation of Inertial Parameters of Rigid Body Links of Manipulators 

      An, Chae H.; Atkeson, Christopher G.; Hollerbach, John M. (1986-02-01)
      A method of estimating the mass, the location of center of mass, and the moments of inertia of each rigid body link of a robot during general manipulator movement is presented. The algorithm is derived from the ...