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 f...
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2010-01-01
|
| Series: | Discrete Dynamics in Nature and Society |
| Online Access: | http://dx.doi.org/10.1155/2010/482972 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1832564945069277184 |
|---|---|
| author | Mohammad Ali Badamchizadeh Iraj Hassanzadeh Mehdi Abedinpour Fallah |
| author_facet | Mohammad Ali Badamchizadeh Iraj Hassanzadeh Mehdi Abedinpour Fallah |
| author_sort | Mohammad Ali Badamchizadeh |
| collection | DOAJ |
| description | 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 observers are designed for the same model and run with the same covariance matrices under the same initial conditions. A five-bar linkage robot with revolute flexible joints is considered as a case study. Simulation results verify the effectiveness of the proposed filters. |
| format | Article |
| id | doaj-art-399f73b7d3254d119c336c118b3a60d4 |
| institution | Kabale University |
| issn | 1026-0226 1607-887X |
| language | English |
| publishDate | 2010-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Discrete Dynamics in Nature and Society |
| spelling | doaj-art-399f73b7d3254d119c336c118b3a60d42025-02-03T01:09:49ZengWileyDiscrete Dynamics in Nature and Society1026-02261607-887X2010-01-01201010.1155/2010/482972482972Extended and Unscented Kalman Filtering Applied to a Flexible-Joint Robot with Jerk EstimationMohammad Ali Badamchizadeh0Iraj Hassanzadeh1Mehdi Abedinpour Fallah2Control Engineering Department, Faculty of Electrical and Computer Engineering, University of Tabriz, Tabriz 5166614776, IranControl Engineering Department, Faculty of Electrical and Computer Engineering, University of Tabriz, Tabriz 5166614776, IranDepartment of Mechanical and Industrial Engineering, Concordia University, Montreal, QC, H3G 1M8, CanadaRobust 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 observers are designed for the same model and run with the same covariance matrices under the same initial conditions. A five-bar linkage robot with revolute flexible joints is considered as a case study. Simulation results verify the effectiveness of the proposed filters.http://dx.doi.org/10.1155/2010/482972 |
| spellingShingle | Mohammad Ali Badamchizadeh Iraj Hassanzadeh Mehdi Abedinpour Fallah Extended and Unscented Kalman Filtering Applied to a Flexible-Joint Robot with Jerk Estimation Discrete Dynamics in Nature and Society |
| title | Extended and Unscented Kalman Filtering Applied to a Flexible-Joint Robot with Jerk Estimation |
| title_full | Extended and Unscented Kalman Filtering Applied to a Flexible-Joint Robot with Jerk Estimation |
| title_fullStr | Extended and Unscented Kalman Filtering Applied to a Flexible-Joint Robot with Jerk Estimation |
| title_full_unstemmed | Extended and Unscented Kalman Filtering Applied to a Flexible-Joint Robot with Jerk Estimation |
| title_short | Extended and Unscented Kalman Filtering Applied to a Flexible-Joint Robot with Jerk Estimation |
| title_sort | extended and unscented kalman filtering applied to a flexible joint robot with jerk estimation |
| url | http://dx.doi.org/10.1155/2010/482972 |
| work_keys_str_mv | AT mohammadalibadamchizadeh extendedandunscentedkalmanfilteringappliedtoaflexiblejointrobotwithjerkestimation AT irajhassanzadeh extendedandunscentedkalmanfilteringappliedtoaflexiblejointrobotwithjerkestimation AT mehdiabedinpourfallah extendedandunscentedkalmanfilteringappliedtoaflexiblejointrobotwithjerkestimation |