… in minimal coordinates, but requires additional coordinates … but here we present a multibody
formulation that improves both, … Kalman filtering, smoothing, and recursive robot arm forward …

… robotic platform, Simscape Multibody is used in this work. This multibody modeling tool is an
… look ahead distance L r e f , and the minimum distance ϵ from the robot to the target point. …

… Later, the extended Kalman filter has been applied in multibody … The error state extended
Kalman filter has been further … joint coordinates can be transformed into a minimum set of …

… the filter consists of finding the minimum … multibody systems that are executing large (rotational)
maneuvers. Recent works that attempt to extend Kalman filtering and unscented filtering …

… Figure 1: Reduced coordinates for a SS-GMP In this work, the augmented Kalman filter, which
has … relates the unreduced coordinates with respect to the MAF to a minimal set of reduced …

… with depth from stereo with a Kalman filter. They focused on … models, here we estimate
minimal motion models by enforcing … In more detail, by defining the image coordinates of a point i …

… relations, the extended Kalman filter (EKF) is … coordinate systems of the inertial units, we
first write the transformation matrix A mn that describes the relation between the local coordinate …

… on Kalman filtering to estimate the rotations of the hand from inertial measurements. Because
the kinematics of rotations are nonlinear, we must resort to the extended Kalman filter for …

… 2, the analysis of the multibody system begins with the motion description of each link (tether
or satellite) separately. A body fixed coordinate system F i is assigned to each link i. This …

… filter in (15) for kr = O. This is a considerable advantage over the normal Kalman filter (see eg
[16]), since the Riccati and Kalman gain … The filter keeps assumptions to a minimum and is …