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Linearized Kinematics for State Estimation in Robotics

  • K. Parsa
  • J. Angeles
  • A. K. Misra
Chapter

Abstract

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.

Keywords

Kinematics linearized models state estimation twist twist-rate 

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References

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Copyright information

© Springer Science+Business Media Dordrecht 2002

Authors and Affiliations

  • K. Parsa
    • 1
  • J. Angeles
    • 1
  • A. K. Misra
    • 1
  1. 1.Department of Mechanical Engineering and Centre for Intelligent MachinesMcGill UniversityMontrealCanada

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