Abstract
This chapter validates the theory of the previous chapters with an experiment. The experiment consists of the estimation of the geometrical parameters and the recognition of CFs during a cube-in-corner assembly, Fig. 1.1. This chapter uses the Iterated Extended Kalman Filter (IEKF) described in Chap. 4, the Non-minimal State Kalman Filter (NMSKF) described in Chap. 5 and the contact models of Chap. 6. The details about the application of these filters and models for the estimation of the geometrical parameters and the CF recognition are presented in Chap. 7.
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Lefebvre, T., Bruyninckx, H., De Schutter, J. 8 Experiment: A Cube-In-Corner Assembly. 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_8
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DOI: https://doi.org/10.1007/11533054_8
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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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