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Estimation of robot states with poisson process based on EKF approximate of Kushner filter: a completely coordinate free Lie group approach |
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| Authors: | Rana Rohit Gaur Prerna Agarwal Vijyant Parthasarathy Harish |
| Institution: | 1.Instrumentation and Control Engineering Department, Netaji Subhas University of Technology (Formerly Netaji Subhas Institute of Technology), New Delhi, India ;2.Mechanical Engineering Department, Netaji Subhas University of Technology (Formerly Netaji Subhas Institute of Technology), New Delhi, India ;3.Electronics and Communication Engineering Department, Netaji Subhas University of Technology (Formerly Netaji Subhas Institute of Technology), New Delhi, India ; |
| Abstract: | Meccanica - In this paper, a Lie coordinate-free torque based Euler–Lagrange equations of motion are developed for a 3-D link (3-DOF) robot. Intentional torque and jerky torque... |
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