Abstract
The measurement equations of a multiple-contact CF can be generated from the wrench spanning sets and closure equations of a number (l) of elementary CFs. This appendix describes how for each of these elementary contacts (1≤ j≤ l) a state vector x′ j can be found which linearizes both the wrench spanning set Gj,k(x′ j ,td,k) and the closure equation hdj,k(x′ j ,td,k) = 0. Section 7.3.2 uses these x′ j to write quasi-linear contact models for the Nonminimal State Kalman Filter (NMSKF).
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Lefebvre, T., Bruyninckx, H., De Schutter, J. F A NMSKF Linearizing State for the Geometrical Parameter Estimation. In: Nonlinear Kalman Filtering for Force-Controlled Robot Tasks. Springer Tracts in Advanced Robotics, vol 19. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11533054_16
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DOI: https://doi.org/10.1007/11533054_16
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Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-28023-1
Online ISBN: 978-3-540-31504-9
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