Robust and Reliable State Estimation for a Five-Axis Robot Using Adaptive Unscented Kalman Filtering

Robust and Reliable State Estimation for a Five-Axis Robot Using Adaptive Unscented Kalman Filtering

Robust robot manipulation hinges on effective state estimation. The VRT 6 robot leverages an inertia measurement unit with triaxial gyroscopes, magnetometers, and accelerometers, as well as a position sensor, but these sensors are plagued by noise that demands rigorous filtering. To tackle this, an...

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Bibliographic Details
Main Authors: Geetha Sundaram, Selvam Bose, Vetrivel Kumar Kandasamy, Bothiraj Thandiyappan
Format: Article
Language:English
Published: MDPI AG 2025-05-01
Series:Engineering Proceedings
Subjects:
IMU
state estimation
scaling parameter
unscented Kalman filter
Online Access:https://www.mdpi.com/2673-4591/95/1/1
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