A geometric method for base-parameter analysis in robot inertia identification based on projective geometric algebra
The International Journal of Robotics Research
Published online on March 18, 2026
Abstract
The International Journal of Robotics Research, Ahead of Print.
This paper proposes a novel geometric method for analytically determining the base inertial parameters of robotic systems. The rigid body dynamics is reformulated using projective geometric algebra, leading to a new identification model named “tetrahedral-...
This paper proposes a novel geometric method for analytically determining the base inertial parameters of robotic systems. The rigid body dynamics is reformulated using projective geometric algebra, leading to a new identification model named “tetrahedral-...