Learning inverse dynamics of 7-DOF Robot Arm

An accurate estimation for the inertial parameters of a robot manipulator is essential for many modern manipulator control algorithms including calculating inverse dynamics of the robot. This project implements a unique approach for numerically determining regressor matrix without explicitly deriving the equations. This is accomplished using state of the art articulated body algorithms such as Featherstone’s and an approximate model of the robot usually captured by a URDF file. The