Repository at Hanyang UniversityCOLLEGE OF ENGINEERING SCIENCES[E](공학대학)ROBOT ENGINEERING(로봇공학과)Articles
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dc.contributor.author신규식-
dc.date.accessioned2018-02-14T05:36:14Z-
dc.date.available2018-02-14T05:36:14Z-
dc.date.issued2015-08-
dc.identifier.citationPROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, v. 229, No. 12, Page. 2195-2206en_US
dc.identifier.issn0954-4062-
dc.identifier.issn2041-2983-
dc.identifier.urihttp://journals.sagepub.com/doi/10.1177/0954406214557847-
dc.identifier.urihttp://hdl.handle.net/20.500.11754/37432-
dc.description.abstractConfiguration 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.en_US
dc.description.sponsorshipThis work was supported by Mid-career Researcher Program through NRF grant funded by the MEST (NRF-2013R1A2A2A01068814) and the Technology Innovation Program (10040097) funded by the Ministry of Trade, Industry and Energy Republic of Korea (MOTIE, Korea). This work performed by ICT-based Medical Robotic Systems Team of Hanyang University, Department of Electronic Systems Engineering and was also supported by the BK21 Plus Program funded by National Research Foundation of Korea (NRF).en_US
dc.language.isoen_USen_US
dc.publisherSAGE PUBLICATIONS LTDen_US
dc.subjectKinematicsen_US
dc.subjectconfiguration estimationen_US
dc.subjectkinematically redundant manipulatoren_US
dc.subjectpotential energyen_US
dc.subjectROBOT MANIPULATORSen_US
dc.titleKinematic modelling and configuration estimation for elastic wire using minimum sensorsen_US
dc.typeArticleen_US
dc.relation.no12-
dc.relation.volume229-
dc.identifier.doi10.1177/0954406214557847-
dc.relation.page2195-2206-
dc.relation.journalPROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE-
dc.contributor.googleauthorJeon, Jiun-
dc.contributor.googleauthorYi, Byung-Ju-
dc.contributor.googleauthorShin, Kyoosik-
dc.contributor.googleauthorKim, Wheekuk-
dc.relation.code2015001293-
dc.sector.campusE-
dc.sector.daehakCOLLEGE OF ENGINEERING SCIENCES[E]-
dc.sector.departmentDEPARTMENT OF ROBOT ENGINEERING-
dc.identifier.pidnorwalk87-
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