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- W2002734398 abstract "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." @default.
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- W2002734398 date "2010-01-01" @default.
- W2002734398 modified "2023-10-18" @default.
- W2002734398 title "Extended and Unscented Kalman Filtering Applied to a Flexible-Joint Robot with Jerk Estimation" @default.
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- W2002734398 doi "https://doi.org/10.1155/2010/482972" @default.
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