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Keywords = over-sensored

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30 pages, 1435 KiB  
Article
State Estimation of Over-Sensored Systems Applied to a Low-Cost Robotic Manipulator
by João Moreira, Vítor H. Pinto, José Gonçalves and Paulo Costa
Appl. Sci. 2021, 11(6), 2519; https://doi.org/10.3390/app11062519 - 11 Mar 2021
Viewed by 2683
Abstract
There is an increasing demand for robotic manipulators to perform more complex and versatile tasks. In order to fulfill this need, expeditious calibration and estimation techniques are required as a first step for the correct usage of the manipulator. This article aims at [...] Read more.
There is an increasing demand for robotic manipulators to perform more complex and versatile tasks. In order to fulfill this need, expeditious calibration and estimation techniques are required as a first step for the correct usage of the manipulator. This article aims at finding a subset of these algorithms that could be used in a generic manipulator and should allow for its prompt use. Two models for the representation of the pose of the manipulator are described and used in the state estimation problem. The results of the implementation are tested, and some performance metrics are obtained. Full article
(This article belongs to the Collection Advances in Automation and Robotics)
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