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Extended and Unscented Kalman Filtering Applied to a Flexible-Joint Robot with Jerk Estimation
Joint Authors
Hassanzadeh, Iraj
Abedinpour Fallah, Mehdi
Badamchizadeh, Mohammad Ali
Source
Discrete Dynamics in Nature and Society
Issue
Vol. 2010, Issue 2010 (31 Dec. 2010), pp.1-14, 14 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2010-12-16
Country of Publication
Egypt
No. of Pages
14
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Badamchizadeh, Mohammad Ali& Hassanzadeh, Iraj& Abedinpour Fallah, Mehdi. 2010. Extended and Unscented Kalman Filtering Applied to a Flexible-Joint Robot with Jerk Estimation. Discrete Dynamics in Nature and Society،Vol. 2010, no. 2010, pp.1-14.
https://search.emarefa.net/detail/BIM-475156
Modern Language Association (MLA)
Badamchizadeh, Mohammad Ali…[et al.]. Extended and Unscented Kalman Filtering Applied to a Flexible-Joint Robot with Jerk Estimation. Discrete Dynamics in Nature and Society No. 2010 (2010), pp.1-14.
https://search.emarefa.net/detail/BIM-475156
American Medical Association (AMA)
Badamchizadeh, Mohammad Ali& Hassanzadeh, Iraj& Abedinpour Fallah, Mehdi. Extended and Unscented Kalman Filtering Applied to a Flexible-Joint Robot with Jerk Estimation. Discrete Dynamics in Nature and Society. 2010. Vol. 2010, no. 2010, pp.1-14.
https://search.emarefa.net/detail/BIM-475156
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-475156