Online Kinematic and Dynamic-State Estimation for Constrained Multibody Systems Based on IMUs

Online Kinematic and Dynamic-State Estimation for Constrained Multibody Systems Based on IMUs

This article addresses the problems of online estimations of kinematic and dynamic states of a mechanism from a sequence of noisy measurements. In particular, we focus on a planar four-bar linkage equipped with inertial measurement units (IMUs). Firstly, we describe how the position, velocity, and a...

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Detalles Bibliográficos
Autores principales: Torres Moreno, José Luis, Blanco Claraco, José Luis, Giménez Fernández, Antonio, Sanjurjo, Emilio, Naya, Miguel Ángel
Formato: info:eu-repo/semantics/article
Lenguaje:English
Publicado: MDPI 2020
Materias:
kinematics
dynamics of multibody systems
simulation
state estimation
Kalman filter
testbed
inertial measurement units
Acceso en línea:http://hdl.handle.net/10835/7333

Internet

http://hdl.handle.net/10835/7333

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