OPENTECHNICAL PUBLICATION
OT-2026-000001969

Dynamic mass estimation methods for an integrated mobile manipulator robot

Published: 2026-09-15T19:09:51.417906Z
Permanent URL: https://opentechnical.org/p/OT-2026-000001969
Categories: Robotics & Automation > Robot Architectures

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ABSTRACT

A method of estimating one or more mass characteristics of a payload
manipulated by a robot includes moving the payload using the robot,
determining one or more accelerations of the payload while the payload is in
motion, sensing, using one or more sensors of the robot, a wrench applied to
the payload while the payload is in motion, and estimating the one or more
mass characteristics of the payload based, at least in part, on the determined
accelerations and the sensed wrench.

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OpenTechnical publication OT-2026-000001969
Published 2026-09-15T19:09:51.417906Z
https://opentechnical.org/p/OT-2026-000001969