State and parameter estimation for robotic manipulators using force measurements

DOI10.1109/TAC.1987.1104524MaRDI QIDQ3778652zbMATH OpenOpenAlexFDO

Authors Michael Blauer, Pierre R. Belanger

Publication date 1987

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1109/tac.1987.1104524

zbMATH Keywords

estimation algorithmsnoisy observationsunknown parametersdiscrete-time observationscomplex robotic systemscontinuous-time dynamic equation

Mathematics Subject Classification ID

Filtering in stochastic control theory (93E11) Control of mechanical systems (70Q05) Nonlinear systems in control theory (93C10) Control/observation systems governed by ordinary differential equations (93C15) Application models in control theory (93C95) Estimation and detection in stochastic control theory (93E10)

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Cited in

(5)

• Estimation of stochastic environment force for master-slave robotic system
• Adaptive force control of robot manipulators
• Bayesian robot system identification with input and output noise
• Extended Kalman and particle filtering for sensor fusion in motion control of mobile robots
• Online state and input force estimation for multibody models employing extended Kalman filtering

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