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Kinematic modelling and configuration estimation for elastic wire using minimum sensors
- Authors
- Jeon, Jiun; Yi, Byung-Ju; Shin, Kyoosik; Kim, Wheekuk
- Issue Date
- Aug-2015
- Publisher
- Professional Engineering Publishing Ltd.
- Keywords
- Kinematics; configuration estimation; kinematically redundant manipulator; potential energy
- Citation
- Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, v.229, no.12, pp 2195 - 2206
- Pages
- 12
- Indexed
- SCI
SCIE
SCOPUS
- Journal Title
- Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
- Volume
- 229
- Number
- 12
- Start Page
- 2195
- End Page
- 2206
- ISSN
- 0954-4062
2041-2983
- 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.
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Related Researcher
- Yi, Byung Ju
- ERICA 공학대학 (SCHOOL OF ELECTRICAL ENGINEERING)