Research Article
Extended and Unscented Kalman Filtering Applied to a Flexible-Joint Robot with Jerk Estimation
Table 2
Simulation data for 5-bar linkage.
| Parameters | Nominal values (in SI units) |
| Joint stiffness | , | Friction constant | , | Gravity coefficient | | Inertia | , , , | Motor inertia | , | Gear ratio | , | Input torques | , |
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