Extended and Unscented Kalman Filtering Applied to a Flexible-Joint Robot with Jerk Estimation

Table 2

Simulation data for 5-bar linkage.

Parameters	Nominal values (in SI units)
Joint stiffness	𝐾1=100, 𝐾2=200
Friction constant	𝐵1=0.1, 𝐵2=0.15
Gravity coefficient	𝑔=9.8
Inertia	𝐼1=1, 𝐼2=2, 𝐼3=1, 𝐼4=2
Motor inertia	𝐽1=1, 𝐽2=1.5
Gear ratio	𝑟𝑚1=50, 𝑟𝑚2=50
Input torques	𝜏1=2, 𝜏2=5