Extended and unscented Kalman filtering applied to a flexible-joint robot with jerk estimation

DOI10.1155/2010/482972zbMath1206.93109OpenAlexW2002734398MaRDI QIDQ624437

Juan-Miguel Gracia

Publication date: 9 February 2011

Published in: Discrete Dynamics in Nature and Society (Search for Journal in Brave)

Full work available at URL: https://eudml.org/doc/232218

zbMATH Keywords

Euler-Lagrange equationsKalman filtersrobust nonlinear controlflexible-joint robots

Mathematics Subject Classification ID

Filtering in stochastic control theory (93E11) Sensitivity (robustness) (93B35) Estimation and detection in stochastic control theory (93E10) Automated systems (robots, etc.) in control theory (93C85)

Cites Work

• Inverse Dynamics of Flexible Robot Arms: Modeling and Computation for Trajectory Control
• An observer for flexible joint robots
• A new method for the nonlinear transformation of means and covariances in filters and estimators

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