A Study on Estimation Methods of Spring Constants and Bending Tendency Parameters in a Pseudo Rigid Body Model of a Continuum Robot.

Abstract

In this study, we propose a method to estimate the spring constant k and the bending tendency φ₀ between rigid bodies with high accuracy when estimating the parameters of the pseudo rigid-body model of a continuum robot. Since the spring constant k and the bending tendency φ₀ are deeply related to each other, it is difficult to estimate them simultaneously and with high accuracy. Therefore, we proposed a method to estimate k first by eliminating the term of φ₀, which is not affected by the measured value, and showed that the estimation accuracy can be improved by simulation. It was confirmed that the estimation accuracy of k was within 1%.