An extended kalman filter for real-time estimation and control of a rigid-link flexible-joint manipulator

IEEE Transactions on Control Systems Technology

Volumn 18, Issue 1, 2010, Pages 91-103

  Lightcap, Chris A ^a,b   Banks, Scott A ^c  

^a UNIVERSITY OF FLORIDA   (United States)

^b MAKO Surgical Corporation   (United States)

^c University of Florida   (United States)

Author keywords

Adaptive control; Extended Kalman filtering (EKF); Flexible joint manipulators; Mitsubishi PA10 6CE

Indexed keywords

ADAPTIVE CONTROL; ADAPTIVE CONTROLLERS; EXTENDED KALMAN FILTERING; FLEXIBLE JOINTS; INDUSTRIAL MANIPULATORS; JOINT FLEXIBILITY; MANIPULATOR DYNAMICS; MITSUBISHI; MODEL PARAMETERIZATION; REAL-TIME ESTIMATION; TRACKING PERFORMANCE;

ADAPTIVE CONTROL SYSTEMS; COMPUTER SIMULATION; EXTENDED KALMAN FILTERS; MANIPULATORS; NONLINEAR CONTROL SYSTEMS; POSITION CONTROL;

CONTROLLERS;

EID: 73249133965     PISSN: 10636536     EISSN: None     Source Type: Journal    
DOI: 10.1109/TCST.2009.2014959     Document Type: Article

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