• DocumentCode
    3666796
  • 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
  • fYear
    2015
  • fDate
    6/1/2015 12:00:00 AM
  • Firstpage
    1216
  • Lastpage
    1222
  • 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"
  • Publisher
    ieee
  • Conference_Titel
    Cyber Technology in Automation, Control, and Intelligent Systems (CYBER), 2015 IEEE International Conference on
  • Print_ISBN
    978-1-4799-8728-3
  • Type

    conf

  • DOI
    10.1109/CYBER.2015.7288117
  • Filename
    7288117
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3666796