An Extended Kalman Filter for Real-Time Estimation and Control of a Rigid-Link Flexible-Joint Manipulator The project of Random Signals, Adaptive, and Kalman Filtering course, under supervision of Dr. Parsa.Abstract—High performance tracking of an industrial robot depends on accurate expression of manipulator dynamics. When a robot has flexible joints efficient model... [Read More]

The three types of derivatives: vectors-by-matrices, matrices-by-vectors, and matrices-by-matrices. These are not as widely considered and a notation is not widely agreed upon. However the second type (matrices-by-vectors) is widely used in Robotics. If we consider the following state form for a robot:     The matrix is skew-symmetric.Here the matrix-by-vector derivative... [Read More]

If you need a spacer for connecting FESTO adaptive gripper DHDG to the end-effector of KUKA/DLR Lightweight Robot here is the link to download the SolidWorks design CAD file. [Read More]

There are a few rules to consider in choosing the coordinate system: [Read More]

EqualX gives you the power and beauty for writing equations TeX/LaTeX in a simple to use editor.Type TeX or LaTeX Type your equation in the best typesetting language for equations, TeX. You can paste in your existing equations and mix TeX code with click-and-click.LaTeXDraw and Inkscape are best tools for... [Read More]