A Stable Adaptive Extended Kalman Filter for Estimating Robot Manipulators Link Velocity and Acceleration
Seyed Ali Baradaran Birjandi,Harshit Khurana,Aude Billard,Sami Haddadin,Seyed Ali Baradaran Birjandi,Harshit Khurana,Aude Billard,Sami Haddadin
One can estimate the velocity and acceleration of robot manipulators by utilizing nonlinear observers. This involves combining inertial measurement units (IMUs) with the motor encoders of the robot through a model-based sensor fusion technique. This approach is lightweight, versatile (suitable for a wide range of trajectories and applications), and straightforward to implement. In order to further...
