Quadrature Kalman Filters with Applications to Robotic Manipulators

dc.contributor.author	Al-Shabi M
dc.contributor.author	Cataford A
dc.contributor.author	Gadsden SA
dc.contributor.department	Mechanical Engineering
dc.date.accessioned	2025-03-01T15:33:47Z
dc.date.available	2025-03-01T15:33:47Z
dc.date.issued	2017-10-01
dc.date.updated	2025-03-01T15:33:46Z
dc.description.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).
dc.identifier.doi	https://doi.org/10.1109/iris.2017.8250108
dc.identifier.uri	http://hdl.handle.net/11375/31254
dc.publisher	Institute of Electrical and Electronics Engineers (IEEE)
dc.subject	4007 Control Engineering, Mechatronics and Robotics
dc.subject	40 Engineering
dc.subject	4010 Engineering Practice and Education
dc.title	Quadrature Kalman Filters with Applications to Robotic Manipulators
dc.type	Article

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