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

Table 1

5-Bar linkage manipulator data.

Link	Mass (Kg)	Length (m)	𝐶 of 𝑔 (m)
1	0.288	0.33	0.166
2	0.0324	0.12	0.06
3	0.3702	0.33	0.166
4	0.2981	0.45	0.075