Virtual decomposition control for flexible-joint robot manipulators with extended Kalman filtering

DOI10.7641/CTA.2017.70367MaRDI QIDQ4623923zbMATH OpenFDO

Authors Hua-Shan Liu, Sheng Li, Baoxiang Wang

Publication date 22 February 2019

Full work available at URL https://doi.org/10.7641/CTA.2017.70367

zbMATH Keywords

extended Kalman filtertrajectory trackingrobot manipulatorflexible jointvirtual decomposition control

Mathematics Subject Classification ID

Filtering in stochastic control theory (93E11) Automated systems (robots, etc.) in control theory (93C85) Lyapunov and other classical stabilities (Lagrange, Poisson, (L^p, l^p), etc.) in control theory (93D05)

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• Bounded decoupling control for flexible-joint robot manipulators with state estimation
• Virtual decomposition control. Toward hyper degrees of freedom robots.
• Extended and unscented Kalman filtering applied to a flexible-joint robot with jerk estimation

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