Extended Kalman filter estimator with curve fitting calibration of EAST Articulated Maintenance Arm position disturbance compensation

EAMA (EAST Articulated Maintenance Arm) is an articulated serial robot arm working in experimental advanced superconductor tokamak for inspection and maintenance. This paper implements an algorithm to calibrate the segment position compensation error and estimateits signal. First, the error model is curve fitted, which has unneglectable nonlinearities. Second, extended Kalman filter is adapted toaccurate the segment position compensation error value based on curve fitted model. The simulation result shows that the root mean squared error is reduced from 0.03602 degree to 0.0152degree, provides significant result improvement, which satisfied the accuracy requirement up to 0.02 degree.