Engineering
5 years ago

New filter revolutionizes robot control in noisy environments!

An Efficient Unscented Kalman Filter for Joint Angles Estimation and Control of Omni bundle with Noise
Rohit Rana, Prerna Gaur, Vijyant Agarwal, Harish Parthasarathy

Paper Summary

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The article presents a new method called the Unscented Kalman Filter (UKF) to estimate and control the movement of a 3-DOF Omni bundle robot. This method is better than the traditional Extended Kalman Filter (EKF) in handling complex movements and noises. The UKF provides more accurate results in estimating the robot's position and noise levels. By using the UKF, the researchers were able to improve the trajectory tracking of the robot and remove unwanted noise. The experiment showed that the UKF outperformed both the conventional UKF and EKF in controlling the robot's movements effectively.