Linearized Kinematics for State Estimation in Robotics
The linerization of the kinematic relations between the twist and the twist-rate of a rigid body of a structurally flexible robotic system and the system generalized coordinates and generalized velocities is reported here. This linearization is required for the state estimators wherein the generalized coordinates and velocities of the underlying mechanical subsystem are to be inferred using the values measured, calculated, or obtained otherwise for the twist and its time derivative, as pertaining to one or more of the links.
KeywordsKinematics linearized models state estimation twist twist-rate
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