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Constrained EKF #328

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aceglia opened this issue Jun 15, 2023 · 1 comment
Open

Constrained EKF #328

aceglia opened this issue Jun 15, 2023 · 1 comment

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@aceglia
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aceglia commented Jun 15, 2023

Could be very usefull to have a EKF for inverse kinematics which is constrained into the joint angle range of motion like in : https://ieeexplore.ieee.org/document/7523749.
Not urgent but great enhancement I think.
@aceglia
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aceglia commented Oct 20, 2023

Add sigmoid function to add bound to states : Constrained Dynamic Parameter Estimation using the Extended
Kalman Filter. I think more easy than the previous article.

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