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Kinematic modelling and configuration estimation for elastic wire using minimum sensors

Title
Kinematic modelling and configuration estimation for elastic wire using minimum sensors
Author
신규식
Keywords
Kinematics; configuration estimation; kinematically redundant manipulator; potential energy; ROBOT MANIPULATORS
Issue Date
2015-08
Publisher
SAGE PUBLICATIONS LTD
Citation
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, v. 229, No. 12, Page. 2195-2206
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.
URI
http://journals.sagepub.com/doi/10.1177/0954406214557847http://hdl.handle.net/20.500.11754/37432
ISSN
0954-4062; 2041-2983
DOI
10.1177/0954406214557847
Appears in Collections:
COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ROBOT ENGINEERING(로봇공학과) > Articles
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