Table of Contents Author Guidelines Submit a Manuscript
Discrete Dynamics in Nature and Society
Volume 2010, Article ID 482972, 14 pages
http://dx.doi.org/10.1155/2010/482972
Research Article

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

1Control Engineering Department, Faculty of Electrical and Computer Engineering, University of Tabriz, Tabriz 5166614776, Iran
2Department of Mechanical and Industrial Engineering, Concordia University, Montreal, QC, Canada H3G 1M8

Received 26 July 2010; Accepted 8 November 2010

Academic Editor: Recai Kilic

Copyright © 2010 Mohammad Ali Badamchizadeh et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Linked References

  1. L. M. Sweet and M. C. Good, “Redefinition of the robot motion control problem: Effects of plant dynamics, drive system constraints, and user requirements,” in Proceedings of the 23rd IEEE Conference on Decision and Control, pp. 724–732, Las Vegas, Nev, USA, 1984. View at Scopus
  2. H. Asada, Z. D. Ma, and H. Tokumaru, “Inverse dynamics of flexible robot arms. Modeling and computation for trajectory control,” Journal of Dynamic Systems, Measurement and Control, vol. 112, no. 2, pp. 177–185, 1990. View at Google Scholar · View at Scopus
  3. M. C. Chien and A. C. Huang, “Adaptive control for flexible-joint electrically driven robot with time-varying uncertainties,” IEEE Transactions on Industrial Electronics, vol. 54, no. 2, pp. 1032–1038, 2007. View at Publisher · View at Google Scholar · View at Scopus
  4. N. Lechevin and P. Sicard, “Observer design for flexible joint manipulators with parameter uncertainties,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '97), vol. 3, pp. 2547–2552, Albuquerque, NM, USA, April 1997. View at Scopus
  5. P. Tomei, “An observer for flexible joint robots,” IEEE Transactions on Automatic Control, vol. 35, no. 6, pp. 739–743, 1990. View at Publisher · View at Google Scholar · View at Zentralblatt MATH · View at Scopus
  6. I. Hassanzadeh, H. Kharrati, and J.-R. Bonab, “Model following adaptive control for a robot with flexible joints,” in Proceedings of the IEEE Canadian Conference on Electrical and Computer Engineering (CCECE '08), pp. 1467–1472, Niagara Falls, Canada, May 2008. View at Publisher · View at Google Scholar
  7. S. A. Bortoff, J. Y. Hung, and M. W. Spong, “Discrete-time observer for flexible-joint manipulators,” in Proceedings of the 28th IEEE Conference on Decision and Control, vol. 3, pp. 2078–2082, Tampa, Fla, USA, December 1989. View at Scopus
  8. G. Welch and G. Bishop, “An introduction to the Kalman filter,” in Proceedings of the Annual Conference on Computer Graphics & Interactive Techniques (SIGGRAPH '01), Los Angeles, Calif, USA, August 2001.
  9. S. Julier, J. Uhlmann, and H. F. Durrant-Whyte, “A new method for the nonlinear transformation of means and covariances in filters and estimators,” IEEE Transactions on Automatic Control, vol. 45, no. 3, pp. 477–482, 2000. View at Google Scholar · View at Zentralblatt MATH · View at Scopus
  10. S. J. Julier and J. K. Uhlmann, “Unscented filtering and nonlinear estimation,” Proceedings of the IEEE, vol. 92, no. 3, pp. 401–422, 2004. View at Publisher · View at Google Scholar · View at Scopus
  11. E. A. Wan and R. van der Merwe, “The unscented Kalman filter for nonlinear estimation,” in Proceedings of IEEE Symposium on Adaptive Systems for Signal Processing, Communication and Control (AS-SPCC '00), pp. 153–158, Lake Louise, Canada, October 2000.
  12. M. W. Spong and M. Vidyasagar, Robot Dynamics and Control, John Wiley & Sons, New York, NY, USA, 2006.
  13. P. Huissoon and D. Wang, “On the design of a direct drive 5-bar-linkage manipulator,” Robotica, vol. 9, no. 4, pp. 441–446, 1991. View at Google Scholar · View at Scopus