Extended and Unscented Kalman Filtering Applied to a Flexible-Joint Robot with Jerk Estimation
نویسندگان
چکیده
منابع مشابه
Extended and Unscented Kalman Filtering Applied to a Flexible-Joint Robot with Jerk Estimation
Robust nonlinear control of flexible-joint robots requires that the link position, velocity, acceleration, and jerk be available. In this paper, we derive the dynamic model of a nonlinear flexible-joint robot based on the governing Euler-Lagrange equations and propose extended and unscented Kalman filters to estimate the link acceleration and jerk from position and velocity measurements. Both o...
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ژورنال
عنوان ژورنال: Discrete Dynamics in Nature and Society
سال: 2010
ISSN: 1026-0226,1607-887X
DOI: 10.1155/2010/482972