Publication

Hanyang University HumanRobotics Lab

International Journal
Kinematic modelling and configuration estimation for elastic wire using minimum sensors
Journal
Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
Vol
Vol. 229, No. 12
Page
pp. 2195-2206
Author
J. Jeon, B.-J. Yi, K. Shin, and W. Kim
Year
2015
Date
2015.08
File
Kinematic modelling and configuration estimation for elastic wire using minimum sensors.pdf (1.6M) 0회 다운로드 DATE : 2020-10-18 17:02:21
Abstract: Configuration estimation of elastic wire has been confined to small-sized continuum bodies. This work aims at configuration estimation algorithm of general elastic wires using minimum number of information (i.e. two magnetic sensor and length of wire) with consideration of gravity load of the elastic wire. The elastic wire is modelled as a kinematically redundant manipulator with multiple links and joints. An optimization algorithm minimizing the potential energy of the elastic wire is employed. The performance of the configuration estimation algorithm is proven by comparison of simulation and experiment results.