Research for Rectangular Beam of Dual-E Elastic Body of Six-Axis Force Sensor Based on Limit Memory Extended Kalman Filter

Wen Chao Zhu; De Zhang Xu

doi:10.4028/www.scientific.net/AMM.385-386.382

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 385-386Research for Rectangular Beam of Dual-E Elastic...

Research for Rectangular Beam of Dual-E Elastic Body of Six-Axis Force Sensor Based on Limit Memory Extended Kalman Filter

Abstract:

The series approximation in the EKF algorithm can lead to low estimated accuracy and poor robustness. To this end, the paper proposes Limit Memory Extended Kalman Filter (LEKF) algorithm which is based on the nonlinear Limited Memory Filter (LMF).Next the paper develops the model of nonlinear state-measurement for rectangular beam of dual-E elastic body of six-axis force sensor by the relationship between strain and deflection. Moreover, The EKF algorithm which is combined with the LMF algorithm can only use the first N-1 measurements that are nearest the current time to compute the optimal estimation. Finally, the effect of old measurements can be reduced substantially. Comparing with the LMF and the EKF in terms of filtering effect by simulation experiments, it is shown that the LEKF algorithm provides higher estimated accuracy and better rubustness to eliminate the noise signal.

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Periodical:

Applied Mechanics and Materials (Volumes 385-386)

Pages:

382-387

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.385-386.382

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Online since:

August 2013

Authors:

Wen Chao Zhu, De Zhang Xu

Keywords:

Dual-E Elastic Body, Extended Kalman Flter (EKF), Limited Memory Filter, Rectangular Beam, Six-Axis Force Sensor

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