Title :
A comparative study of unscented and extended Kalman filter for position and velocity estimation of Stewart platform manipulator
Author :
Shady. A. Maged;A. A. Abouelsoud;Ahmed M. R. Fath El Bab
Author_Institution :
School of Innovative Design Engineering, Mechatronics and Robotics Engineering Dept, Egypt-Japan University of Science and Technology(E-JUST), New Borg El-Arab, Alexandria, Egypt
fDate :
6/1/2015 12:00:00 AM
Abstract :
The estimation of position and velocity of Stewart Manipulator using low cost inertial sensors (accelerometers and gyroscope) and Leg length measurements will be considered. The estimation is based on the integration of different sensors by means of Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF). The results of the evaluation of these filter estimation techniques are compared with each other. A proposed computed torque controller is simulated and verified using the estimated states from UKF with 6 degrees of freedom Stewart platform using MATLAB SimMechanics toolbox.
Keywords :
"Sensors","Estimation","Accelerometers","Kalman filters","Torque","Manipulator dynamics"
Conference_Titel :
Cyber Technology in Automation, Control, and Intelligent Systems (CYBER), 2015 IEEE International Conference on
Print_ISBN :
978-1-4799-8728-3
DOI :
10.1109/CYBER.2015.7288117
