payload_estimation

Robot payload estimation, based on: C. G. Atkeson, C. H. An, and J. M. Hollerbach, “Estimation of Inertial Parameters of Manipulator Loads and Links,” Int. J. Rob. Res., vol. 5, no. 3, pp. 101–119, Sep. 1986. Maintained by auralius on GitHub, where it has earned 14 stars from the community.

It's actively developed around estimation-algorithm, hollerbach, payload, and is a solid reference for anyone building with these tools.