Conference
Quadrature Kalman Filters with Applications to Robotic Manipulators
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 …
Authors
Al-Shabi M; Cataford A; Gadsden SA
Pagination
pp. 117-124
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Publication Date
October 1, 2017
DOI
10.1109/iris.2017.8250108
Name of conference
2017 IEEE International Symposium on Robotics and Intelligent Sensors (IRIS)