A new kinematic Kalman filter (KKF) for end-effector sensing of robotic manipulators

ASME International Mechanical Engineering Congress and Exposition, Proceedings

Volumn 9 PART B, Issue , 2008, Pages 957-962

  Jeon, Soo ^a   Tomizuka, Masayoshi ^a   Katou, Tetsuaki ^b  

^a UNIVERSITY OF CALIFORNIA   (United States)

^b Tokyo Institute of Technology   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

GYROSCOPES; KINEMATICS; MANIPULATORS; PARAMETER ESTIMATION; ROBOTICS; ACCELEROMETERS; DELAY CONTROL SYSTEMS; END EFFECTORS; EXTENDED KALMAN FILTERS; FLEXIBLE MANIPULATORS; INDUSTRIAL ROBOTS; KALMAN FILTERS; MODULAR ROBOTS; ROBOT APPLICATIONS; STATE ESTIMATION; STATE SPACE METHODS; TIME DELAY;

END-EFFECTOR CONTROL; KINEMATIC KALMAN FILTER (KKF); PARAMETER UNCERTAINTIES; ACCURATE ESTIMATION; END EFFECTOR CONTROL; EXTERNAL DISTURBANCES; NONLINEAR STATE SPACE MODELS; PARAMETER UNCERTAINTY; REAL-TIME COMPUTATIONS; ROBOTIC MANIPULATORS; TASK-SPACE CONTROL;

KALMAN FILTERS; MANIPULATORS;

EID: 44349179176     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1115/IMECE2007-42327     Document Type: Conference Paper

References (6)

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