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http://hdl.handle.net/11375/31254| Title: | Quadrature Kalman Filters with Applications to Robotic Manipulators |
| Authors: | Al-Shabi M Cataford A Gadsden SA |
| Department: | Mechanical Engineering |
| Keywords: | 4007 Control Engineering, Mechatronics and Robotics;40 Engineering;4010 Engineering Practice and Education |
| Publication Date: | 1-Oct-2017 |
| Publisher: | Institute of Electrical and Electronics Engineers (IEEE) |
| Abstract: | In this work, well known Quadrature Kalman Filters (QKFs), namely 2-point QKF (SeQKF), 3-point QKF (ThQKF), and 4-point QKF (FoQKF), were used to monitor a 4- degree of freedom prismatic-revolute-revolute-revolute (PRRR) manipulator. This manipulator represents a well-known industrial arm robot. These methods are applied on a PRRR robot, and are compared in terms of stability, robustness, computation time, complexity, and the quality of the optimality. For completeness, the results were compared to those obtained from the popular Unscented Kalman Filter (UKF) and a special form of the UKF known as the Cubature Kalman Filter (CKF). |
| URI: | http://hdl.handle.net/11375/31254 |
| metadata.dc.identifier.doi: | https://doi.org/10.1109/iris.2017.8250108 |
| Appears in Collections: | Mechanical Engineering Publications |
Files in This Item:
| File | Description | Size | Format | |
|---|---|---|---|---|
| 065-gadsden_conf_065.pdf | Published version | 1.52 MB | Adobe PDF | View/Open |
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