弾性ロッドの弾性パラメータ同定

抄録

In this paper, we proposed an algorithm for identifying the elastic property of an elastic rod along its body trunk. The proposed algorithm estimates the stiffness matrix for bending and torsion along the backbone curve of an elastic rod based on the measured information on its shape and the forces and torques applied at its base by making full use of the discretized Kirchhoff elastic rod model and using Newton method. We propose a system for identifying the elastic property as well. Experimental result using an elastic strip with a known elastic property shows that the proposed method can estimate the elastic property of the rod with 0.14 ％ accuracy.