  In this paper, a position and velocity estimation method for robotic
manipulators which are affected by constant bounded disturbances is considered.
The tracking control problem is formulated as a disturbance rejection problem,
with all the unknown parameters and dynamic uncertainties lumped into
disturbance. Using adaptive robust extended Kalman filter(AREKF) the movement
and velocity of each joint is predicted to use in discontinuous Lyapunov-based
controller structure. The parameters of the error dynamics have been validated
off-line by real data. Computer simulation results given for a two degree of
freedom manipulator demonstrate the efficacy of the improved Kalman Filter by
comparing the performance of EKF and improved AREKF. Although it is shown that
accurate trajectory tracking can be achieved by using the proposed controller.
