An Extended Kalman Filter for Real-Time Estimation and Control of a Rigid-Link Flexible-Joint Manipulator
High performance tracking of an industrial robot depends on accurate expression of manipulator dynamics. When a robot has flexible joints efficient model parametrization will be difficult to achieve. In this project an extended Kalman filter (EKF) observer to estimate manipulator states is presented.
The report for this project can be found here:
https://github.com/mahyaret/EKF-RLFJ-Robot/blob/master/report/EKF_RLFJ_Robot.pdf