Robustness of the Unscented K

Abstract

The Unscented Kalman Filter (UKF) was applied to state and parameter estimation of a one degree of freedom robot link with an elastic, cable-driven transmission. Only motor encoder and command torque data were used as input to the filter. The UKF was used offline for joint state and model-parameter estimation, and online for state estimation. This paper presents an analysis of the robustness of the UKF to unknown/unmodeled variation in inertia, cable tension and contact forces, using experimental data collected with the robot.