{"id":"https://openalex.org/W1984664729","doi":"https://doi.org/10.1177/02783640022066851","title":"Extended Kalman Filtering Applied to a Two-Axis Robotic Arm with Flexible Links","display_name":"Extended Kalman Filtering Applied to a Two-Axis Robotic Arm with Flexible Links","publication_year":2000,"publication_date":"2000-03-01","ids":{"openalex":"https://openalex.org/W1984664729","doi":"https://doi.org/10.1177/02783640022066851","mag":"1984664729"},"language":"en","primary_location":{"id":"doi:10.1177/02783640022066851","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783640022066851","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5021238280","display_name":"V. Lertpiriyasuwat","orcid":null},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Vatchara Lertpiriyasuwat","raw_affiliation_strings":["University of Washington"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Washington","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110821789","display_name":"Martin C. Berg","orcid":null},"institutions":[{"id":"https://openalex.org/I201448701","display_name":"University of Washington","ror":"https://ror.org/00cvxb145","country_code":"US","type":"education","lineage":["https://openalex.org/I201448701"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Martin C. Berg","raw_affiliation_strings":["Department of Mechanical Engineering, University of Washington, Seattle,                         Washington 98195, USA","Department of Mechanical Engineering, University of Washington, Seattle, Washington 98195, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, University of Washington, Seattle,                         Washington 98195, USA","institution_ids":["https://openalex.org/I201448701"]},{"raw_affiliation_string":"Department of Mechanical Engineering, University of Washington, Seattle, Washington 98195, USA","institution_ids":["https://openalex.org/I201448701"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5066094593","display_name":"Keith W. Buffinton","orcid":"https://orcid.org/0000-0002-1430-7498"},"institutions":[{"id":"https://openalex.org/I131221577","display_name":"Bucknell University","ror":"https://ror.org/00fc1qt65","country_code":"US","type":"education","lineage":["https://openalex.org/I131221577"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Keith W. Buffinton","raw_affiliation_strings":["Department of Mechanical Engineering, Bucknell University, Lewisburg,                         Pennsylvania 17837, USA","Department of Mechanical Engineering, Bucknell University, Lewisburg, Pennsylvania 17837, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Bucknell University, Lewisburg,                         Pennsylvania 17837, USA","institution_ids":["https://openalex.org/I131221577"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Bucknell University, Lewisburg, Pennsylvania 17837, USA","institution_ids":["https://openalex.org/I131221577"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5021238280"],"corresponding_institution_ids":["https://openalex.org/I201448701"],"apc_list":null,"apc_paid":null,"fwci":0.9973,"has_fulltext":false,"cited_by_count":26,"citation_normalized_percentile":{"value":0.78469757,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":"19","issue":"3","first_page":"254","last_page":"270"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.8623345494270325},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.7626374959945679},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6916000843048096},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.6622885465621948},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.6280959844589233},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6066663861274719},{"id":"https://openalex.org/keywords/fast-kalman-filter","display_name":"Fast Kalman filter","score":0.5261639952659607},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48020538687705994},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4657851755619049},{"id":"https://openalex.org/keywords/planar","display_name":"Planar","score":0.44532647728919983},{"id":"https://openalex.org/keywords/invariant-extended-kalman-filter","display_name":"Invariant extended Kalman filter","score":0.44023919105529785},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.42112237215042114},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3642966151237488},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3639621138572693},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3382316529750824},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.18787670135498047},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07569926977157593}],"concepts":[{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.8623345494270325},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.7626374959945679},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6916000843048096},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.6622885465621948},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.6280959844589233},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6066663861274719},{"id":"https://openalex.org/C150679823","wikidata":"https://www.wikidata.org/wiki/Q5436946","display_name":"Fast Kalman filter","level":4,"score":0.5261639952659607},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48020538687705994},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4657851755619049},{"id":"https://openalex.org/C134786449","wikidata":"https://www.wikidata.org/wiki/Q3391255","display_name":"Planar","level":2,"score":0.44532647728919983},{"id":"https://openalex.org/C8639503","wikidata":"https://www.wikidata.org/wiki/Q6059511","display_name":"Invariant extended Kalman filter","level":4,"score":0.44023919105529785},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.42112237215042114},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3642966151237488},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3639621138572693},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3382316529750824},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.18787670135498047},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07569926977157593},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121684516","wikidata":"https://www.wikidata.org/wiki/Q7600677","display_name":"Computer graphics (images)","level":1,"score":0.0},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1177/02783640022066851","is_oa":false,"landing_page_url":"https://doi.org/10.1177/02783640022066851","pdf_url":null,"source":{"id":"https://openalex.org/S73484101","display_name":"The International Journal of Robotics Research","issn_l":"0278-3649","issn":["0278-3649","1741-3176"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320017","host_organization_name":"SAGE Publishing","host_organization_lineage":["https://openalex.org/P4310320017"],"host_organization_lineage_names":["SAGE Publishing"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"The International Journal of Robotics Research","raw_type":"journal-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.858.8988","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.858.8988","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://ijr.sagepub.com/content/19/3/254.full.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","display_name":"Industry, innovation and infrastructure","score":0.4699999988079071}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W304861154","https://openalex.org/W1486031097","https://openalex.org/W1543601365","https://openalex.org/W1588431591","https://openalex.org/W1926836425","https://openalex.org/W1983910694","https://openalex.org/W1984233919","https://openalex.org/W1990069327","https://openalex.org/W1994525578","https://openalex.org/W2003676105","https://openalex.org/W2015352329","https://openalex.org/W2031002262","https://openalex.org/W2074889799","https://openalex.org/W2082679461","https://openalex.org/W2105934661","https://openalex.org/W2116881355","https://openalex.org/W2127302456","https://openalex.org/W2149405946","https://openalex.org/W2151768178","https://openalex.org/W2155297402","https://openalex.org/W2163247425","https://openalex.org/W2167068799","https://openalex.org/W2328598757","https://openalex.org/W3012860907","https://openalex.org/W3023397375","https://openalex.org/W4248860250"],"related_works":["https://openalex.org/W4206024512","https://openalex.org/W2772311278","https://openalex.org/W2966342863","https://openalex.org/W2359845109","https://openalex.org/W1035502194","https://openalex.org/W4300476109","https://openalex.org/W2354299011","https://openalex.org/W4302337189","https://openalex.org/W2911693460","https://openalex.org/W2164981166"],"abstract_inverted_index":{"An":[0],"industrial":[1],"robot":[2,65],"today":[3],"uses":[4],"measurements":[5,37,72,78],"of":[6,12,38,47,57,60,63,73,79,86,112,121,124],"its":[7,13,21,39],"joint":[8,75],"positions":[9],"and":[10,15,19,29],"models":[11],"kinematics":[14],"dynamics":[16,127],"to":[17,69,94],"estimate":[18],"control":[20,30],"end-effector":[22,26,40,62,81],"position.":[23,82],"Substantially":[24],"better":[25],"position":[27,41,59],"estimation":[28,56,84,116],"performance":[31,117],"would":[32],"be":[33],"obtainable":[34],"if":[35],"direct":[36,77],"were":[42],"also":[43],"used.":[44],"The":[45,83,104],"subject":[46],"this":[48],"paper":[49],"is":[50],"extended":[51,87,113,130],"Kalman":[52,88,114,131],"filtering":[53],"for":[54],"precise":[55],"the":[58,61,70,74,80,110,119,122,125,129],"a":[64,95],"using,":[66],"in":[67,92],"addition":[68],"usual":[71],"positions,":[76],"performances":[85],"filters":[89],"are":[90],"compared":[91],"applications":[93],"planar":[96],"two-axis":[97],"robotic":[98],"arm":[99,126],"with":[100],"very":[101],"flexible":[102],"links.":[103],"comparisons":[105],"shed":[106],"new":[107],"light":[108],"on":[109,118],"dependence":[111],"filter":[115,132],"quality":[120],"model":[123],"that":[128],"operates":[133],"with.":[134]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2},{"year":2012,"cited_by_count":1}],"updated_date":"2026-05-21T06:26:12.895304","created_date":"2025-10-10T00:00:00"}