TY - GEN
T1 - UKF based filtering and curve fitting for estimating the joint stiffness of stewart platform
AU - Li, Xin
AU - Dai, Shuling
AU - Zeng, Rui
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2017/1/20
Y1 - 2017/1/20
N2 - In order to improve the precision of most control method for the stewart platform, this paper gives a novel method to determine the joint stiffness to avoid the negative effect of the actuated joint deformation. We establish the transfer function of the linearized model between the theoretical and the real value of joint deforming length so as to estimate the joint stiffness. At the same time, in view of the special noise of the distance measuring sensor output, the unscented Kalman filter is used in signal processing. The experimental results show that this method can obtain the joint stiffness parameters effectively.
AB - In order to improve the precision of most control method for the stewart platform, this paper gives a novel method to determine the joint stiffness to avoid the negative effect of the actuated joint deformation. We establish the transfer function of the linearized model between the theoretical and the real value of joint deforming length so as to estimate the joint stiffness. At the same time, in view of the special noise of the distance measuring sensor output, the unscented Kalman filter is used in signal processing. The experimental results show that this method can obtain the joint stiffness parameters effectively.
UR - https://www.scopus.com/pages/publications/85015224740
U2 - 10.1109/CGNCC.2016.7829036
DO - 10.1109/CGNCC.2016.7829036
M3 - 会议稿件
AN - SCOPUS:85015224740
T3 - CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference
SP - 1639
EP - 1643
BT - CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 7th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2016
Y2 - 12 August 2016 through 14 August 2016
ER -