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Circular deformation estimation for a flexible link

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Original languageEnglish
Title of host publication2017 IEEE SENSORS
ISBN (Electronic)978-1-5090-1012-7
Publication statusPublished - 25 Dec 2017
Publication typeA4 Article in a conference publication
EventIEEE Sensors: Proceedings -
Duration: 1 Jan 1900 → …


ConferenceIEEE Sensors: Proceedings
Period1/01/00 → …


To address the tip positioning problem among flexible link robotic applications, we propose a new circular beam deformation model that is ideally suited for networked linear accelerometers and rate gyros. Importantly, the tip positioning problem of multiple-flexible-link system is reduced to the tip positioning problem of an individual flexible link subject to the circularly characterized deformation. The validity of the theoretical results is verified by experiments with a highly flexible single-link hydraulic manipulator.

Publication forum classification

Field of science, Statistics Finland