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Keywords: the EKF with adaptive high gain
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Journal Articles
Publisher: ASME
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. August 2022, 144(8): 081004.
Paper No: DS-21-1130
Published Online: June 7, 2022
... in the dynamics model to enlarge the joint stiffness and achieve a united control for the robot with joints of arbitrary flexibility. Meanwhile, the saturation problem of torque control is also addressed. Second, an extended Kalman filter (EKF) with adaptive high gain that combines the noise filter of EKF...