Extended and Unscented Kalman Filtering Applied to a Flexible-Joint Robot with Jerk Estimation

<table>The estimated jerk <svg height="16.487499" id="M101" style="vertical-align:-5.32956pt" version="1.1" viewbox="0 0 15.9125 16.487499" width="15.9125" xmlns="http://www.w3.org/2000/svg">
<g transform="matrix(1.25,0,0,-1.25,0,16.4875)">
<g transform="translate(72,-58.81)">
<text transform="matrix(1,0,0,-1,-66.16,64.17)">
<tspan style="font-size: 12.50px; " x="0" y="0">⃛</tspan>
<tspan style="font-size: 12.50px; " x="-5.7888889" y="0">𝑞</tspan>
</text>
<text transform="matrix(1,0,0,-1,-66.22,61.05)">
<tspan style="font-size: 8.75px; " x="0" y="0">𝑙</tspan>
</text>
<text transform="matrix(1,0,0,-1,-63.44,58.86)">
<tspan style="font-size: 6.25px; " x="0" y="0">1</tspan>
</text>
</g>
</g>
</svg> of the first joint.</table>

Discrete Dynamics in Nature and Society

fig10

Figure 10

Figure 10: Extended and Unscented Kalman Filtering Applied to a Flexible-Joint Robot with Jerk Estimation 