This paper presents a new setup and investigates an Augmented Extended Kalman Filter designed to observe states of a single degree of freedom manipulator actuated by Shape Memory Alloy. Shape Memory Alloys (SMAs) have been widely used in robotic field because of their unique mechanical and electrical characteristics. Measuring the parameters of the SMA actuated manipulator is difficult due to small size of SMA wire. In this case an observer is a proper alternative to estimate the states, through which Extended Kalman Filter (EKF) seems to be a proper choice because it works well with noisy measurement and model inaccuracies. Furthermore some mechanical parameters of the manipulator may not be precisely known which lead to systematic errors. The problem could be solved by considering parameters as augmented states to be estimated, which is the basis of Augmented Extended Kalman Filter (AEKF). Simulation results show the effectiveness of the proposed Filter.
展开▼
