Load Parameter Identification for Parallel Robot Manipulator Based on Extended Kalman Filter

Algorithm 1

Identification algorithm.

	Algorithm extended Kalman filter algorithm
(1)	Initialize the estimated value of the state variable and the error covariance matrix
(2)	Repeat
(3)	Calculate prior state estimates,
(4)	Calculate the Jacobian matrix,
(5)	Calculate the prior error covariance,
(6)	Calculate Kalman gain,
(7)	Update the posterior state estimate,
(8)	Update posterior error covariance,
(9)	Output the best estimate of this iteration
(10)	Until Simulation stopped
(11)	End