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The International Journal of Robotics Research
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Extended Kalman Filtering Applied to a Two-Axis Robotic Arm with Flexible Links

Vatchara Lertpiriyasuwat

Martin C. Berg

Department of Mechanical Engineering, University of Washington, Seattle, Washington 98195, USA

Keith W. Buffinton

Department of Mechanical Engineering, Bucknell University, Lewisburg, Pennsylvania 17837, USA

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.

Key Words: extended Kalman filter • estimation • flexible links • robot

The International Journal of Robotics Research, Vol. 19, No. 3, 254-270 (2000)
DOI: 10.1177/02783640022066851
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