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• W4210834900 abstract "• A detailed mathematical model is developed for a serial–parallel mechanism. • A novel method based on an improved strong tracking extended Kalman filter (IST-EKF) is proposed. • An identifying factor is designed to identify errors caused by load disturbances and model uncertainties. • A suboptimal fading scaling factor is proposed to manage errors in different forms. • Simulation and experiments on 3PTT-2R NC machine tool are studied to verify the effectiveness. Serial–parallel mechanisms have been applied in numerous fields; however, their estimation accuracies are challenged by load disturbances and model uncertainties. To solve this problem, a detailed mathematical model was developed for a serial–parallel mechanism. The model consists of three submodels: a feeding subsystem, an execution subsystem, and a drive subsystem. A novel method based on an improved strong tracking extended Kalman filter (IST-EKF) is proposed to estimate the speeds and positions of the serial–parallel mechanism. In this method, an identifying factor is designed to identify errors caused by load disturbances and model uncertainties. Thereafter, a suboptimal fading scaling factor is proposed to manage errors of different forms. Furthermore, the suboptimal fading scaling factor can keep the symmetry of an error covariance matrix. A numerical simulation and an experiment with a serial–parallel mechanism of a 3PTT-2R NC machine tool were conducted to verify the effectiveness of the proposed IST-EKF." @default.
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• W4210834900 date "2022-05-01" @default.
• W4210834900 modified "2023-10-02" @default.
• W4210834900 title "Improved strong tracking extended Kalman filter for identifying load disturbances and model uncertainties of serial–parallel mechanism" @default.
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• W4210834900 doi "https://doi.org/10.1016/j.ymssp.2022.108819" @default.
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