Article : texte imprimé

An extended Kalman filter for real-time estimation and control of a rigid-link flexible-joint manipulator

Chris A. Lightcap, Auteur ; Scott A. Banks, Auteur |

Dans IEEE Transactions on control systems technology (Vol. 18 N° 1, Janvier 2010)

Maximizing the tracking performance of an industrial manipulator requires an accurate expression of manipulator dynamics and efficient model parameterization. These objectives are difficult to achieve in manipulators with flexible joints since l[...]

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