Contact Force Estimation of Robot Manipulators With Imperfect Dynamic Model: On Gaussian Process Adaptive Disturbance Kalman Filter.
Yanran WeiShangke LyuWenshuo LiXiang YuZidong WangLei GuoPublished in: IEEE Trans Autom. Sci. Eng. (2024)
Keyphrases
- robot manipulators
- dynamic model
- kalman filter
- gaussian process
- extended kalman filter
- control scheme
- kalman filtering
- inverse kinematics
- object tracking
- experimental data
- contact force
- regression model
- model selection
- bayesian framework
- latent variables
- hyperparameters
- particle filter
- end effector
- mean shift
- video sequences
- pid controller
- closed loop
- parameter estimation
- support vector