Dynamic modeling and parameter identification of an elastic rod for analyzing fly-fishing

Abstract

The authors focus on the fly-fishing to realize a casting by a small and low-power manipulator. This paper proposes a parameter identification method for analyzing real fly-fishing based on a rod dynamic model. First, the static measurement identifies parameters of the rod’s elasticity and derives the relationship between the center of gravity and the mass of each link. Then, all parameters are identified through the measurements of rod vibrations by the steepest descent method using a few variables, from approximating each link as a truncated cone. The validity of the proposed method was confirmed by comparing measurements and simulation using identified parameters.