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

<table>The estimated velocity <svg height="16.487499" id="M97" 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="-5.9889369" y="0">𝑞</tspan>
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<tspan style="font-size: 8.75px; " x="0" y="0">𝑙</tspan>
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Discrete Dynamics in Nature and Society

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Figure 6

Figure 6: Extended and Unscented Kalman Filtering Applied to a Flexible-Joint Robot with Jerk Estimation 