Experimental Implementation of a Nonlinear Estimator in the Control of Flexible Joint Manipulators

Direct adaptive control methodologies for flexible-joint space manipulators with uncertainties and modeling errors

“…Hollars and Cannon [178] used a constant-gain EKF (CGEKF) to estim ate the state variables of a planar two-link robot arm with rigid links and flexibility in its joints, for use by a state feedback control law. A significant advantage of the CGEKF approach is th a t the computational load is much less than th a t of the EKF.…”