Quadrature Kalman filters with applications to robotic manipulators

Abstract

In this work, well known Quadrature Kalman Filters (QKFs), namely 2-point QKF (SeQKF), 3-point QKF (ThQKF), and 4-point QKF (FoQKF), were used to monitor a 4- degree of freedom prismatic-revolute-revolute-revolute (PRRR) manipulator. This manipulator represents a well-known industrial arm robot. These methods are applied on a PRRR robot, and are compared in terms of stability, robustness, computation time, complexity, and the quality of the optimality. For completeness, the results were compared to those obtained from the popular Unscented Kalman Filter (UKF) and a special form of the UKF known as the Cubature Kalman Filter (CKF).