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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