Bakhti, M. and Bououlid, B.I. (2016) Highly non linear rigid flexible manipulator state estimation using the Extended and the Unscented Kalman filters. In: UNSPECIFIED.

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Official URL: https://www.scopus.com/inward/record.uri?eid=2-s2....

Abstract

This paper focuses on the highly non linear rigidflexible manipulator state estimation using the Extended Kalman Filter and the Unscented Kalman Filter. The Hamilton's principle is used to derive the manipulator equations, the Euler-Bernoulli assumption is considered to model the flexible link, and the elastic movement is approximated using the assumed modes method. The simulation study compares the efficiency of the state estimation quantified by the estimation mean squared error and the time required by the filters to converge.

Item Type: Conference or Workshop Item (UNSPECIFIED)
Uncontrolled Keywords: Bandpass filters; Bearings (machine parts); Extended Kalman filters; Flexible manipulators; Kalman filters; Mean square error; Nonlinear filtering; State estimation, Assumed modes method; Euler-Bernoulli; Flexible links; Hamilton's principle; Mean squared error; Rigid-flexible manipulators; Simulation studies; Unscented Kalman Filter, Manipulators
Subjects: Engineering
Divisions: SCIENTIFIC PRODUCTION > Engineering
Depositing User: Administrateur Eprints Administrateur Eprints
Last Modified: 31 Jan 2020 15:47
URI: http://eprints.umi.ac.ma/id/eprint/3268

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