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

<table>The estimated jerk <svg height="16.487499" id="M102" 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">
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<tspan style="font-size: 12.50px; " x="0" y="0">⃛</tspan>
<tspan style="font-size: 12.50px; " x="-5.7888889" y="0">𝑞</tspan>
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<text transform="matrix(1,0,0,-1,-66.22,61.05)">
<tspan style="font-size: 8.75px; " x="0" y="0">𝑙</tspan>
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<tspan style="font-size: 6.25px; " x="0" y="0">2</tspan>
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</svg> of the second joint.</table>

Discrete Dynamics in Nature and Society

fig11

Figure 11

Figure 11: Extended and Unscented Kalman Filtering Applied to a Flexible-Joint Robot with Jerk Estimation 