I'm working on a kinematic estimation algorithm, and am trying to come up with the right terminology.
I'm using the Product-of-Exponentials formulation for kinematic chains (and ignoring position for now):
$R = e^{\omega_1 \theta_1}e^{\omega_2 \theta_2}...e^{\omega_n \theta_n}R_0$
where:
$R \in SO(3)$: orientation of end effector
$\theta_{1..n}$: joint coordinates
$\omega_{1..n} \in so(3)$: joint screw axes
Forward Kinematics: Solve for $R$ given $\omega_{1..n}, \theta_{1..n}$
Inverse Kinematics: Solve for $\theta_{1..n}$ given $R, \omega_{1..n}$
?___?: Solve for $\omega_{1..n}$ given $R, \theta_{1..n}$
My question is, what phrase fills that blank? I've been using the PoE formula for so long that I am starting to forget the DH paradigm but I'd imagine there's an equivalent with DH params too.
The literature I'm comparing against calls this "system identification" but I think that's because they're treating it like a dynamical system...I am treating it like a standard robot kinematics problem.
Is there an agreed-upon term for this process?