期刊名称：Journal of Theoretical and Applied Information Technology
印刷版ISSN：1992-8645
电子版ISSN：1817-3195
出版年度：2017
卷号：95
期号：3
出版社：Journal of Theoretical and Applied
摘要：This paper focuses on the highly nonlinear rigid-flexible manipulator state estimation using the Extended Kalman Filter and the Unscented Kalman Filter. The Hamiltons principle is used to derive the manipulator equations, the Euler-Bernoulli assumption is considered to model the flexible link, and the elastic movement is approximated using the assumed modes method. The simulation study compares the efficiency of the state estimation quantified by the estimation mean squared error and the time required by the filters to converge.
