An Extended Kalman Filter for Real-Time Estimation and Control of a Rigid-Link Flexible-Joint Manipulator

@article{Lightcap2010AnEK,
  title={An Extended Kalman Filter for Real-Time Estimation and Control of a Rigid-Link Flexible-Joint Manipulator},
  author={Chris Lightcap and Scott A. Banks},
  journal={IEEE Transactions on Control Systems Technology},
  year={2010},
  volume={18},
  pages={91-103}
}
Maximizing the tracking performance of an industrial manipulator requires an accurate expression of manipulator dynamics and efficient model parameterization. These objectives are difficult to achieve in manipulators with flexible joints since link positions typically are not measured. We present in this paper an extended Kalman filter (EKF) observer to estimate manipulator states and couple these estimates to an adaptive rigid-link flexible-joint (RLFJ) controller. In a computer simulation… CONTINUE READING
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Measurement and control issues in a novel dynamic radiographic imaging system

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Robot localization and Kalman filters: On finding Yoru position in a noisy world

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