Episode 03 / Written companion
Customer recording trackTeaching a robot arm to weigh things
An EKF estimates the payload and a disturbance torque per joint, with a lesson in what a static hold can’t reveal.
Read the companion now. The recording is forthcoming; “Customer” identifies its planned release track.
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Read the full companion.
This companion is on the customer track. The course is free: create an account to read it, together with every lesson, lab and gate.
Put the idea to work
The analytical fix
Augment an EKF with the payload mass and one disturbance torque per joint, measure what the servos report, and feed the estimates back as goal offsets. The result is the baseline every learned method must beat.
Build module 03