Extended Kalman filtering applied to a two-axis robotic arm with flexible links
Journal Article
·
· International Journal of Robotics Research
An industrial robot today uses measurements of its joint positions and models of its kinematics and dynamics to estimate and control its end-effector position. Substantially better end-effector position estimation and control performance would be obtainable if direct measurements of its end-effector position were also used. The subject of this paper is extended Kalman filtering for precise estimation of the position of the end-effector of a robot using, in addition to the usual measurements of the joint positions, direct measurements of the end-effector position. The estimation performances of extended Kalman filters are compared in applications to a planar two-axis robotic arm with very flexible links. The comparisons shed new light on the dependence of extended Kalman filter estimation performance on the quality of the model of the arm dynamics that the extended Kalman filter operates with.
- Research Organization:
- Univ. of Washington, Seattle, WA (US)
- OSTI ID:
- 20015662
- Journal Information:
- International Journal of Robotics Research, Journal Name: International Journal of Robotics Research Journal Issue: 3 Vol. 19; ISSN IJRREL; ISSN 0278-3649
- Country of Publication:
- United States
- Language:
- English
Similar Records
Pose and Motion Estimation Using Dual Quaternion-Based Extended Kalman Filtering
Dynamic modeling of a laminated composite-material flexible robot arm made of short beams
Robotic arm
Conference
·
Mon Jun 01 00:00:00 EDT 1998
·
OSTI ID:626474
Dynamic modeling of a laminated composite-material flexible robot arm made of short beams
Journal Article
·
Tue Oct 01 00:00:00 EDT 1991
· International Journal of Robotics Research; (United States)
·
OSTI ID:5129537
Robotic arm
Patent
·
Tue Apr 18 00:00:00 EDT 1989
·
OSTI ID:866921