Extended and Unscented Kalman Filtering Applied to a Flexible-Joint Robot with Jerk Estimation

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...

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Bibliographic Details
Main Authors:	Mohammad Ali Badamchizadeh, Iraj Hassanzadeh, Mehdi Abedinpour Fallah
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
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