連続体の剛体多リンクモデルにおけるバネ定数及び曲がり癖パラメータの推定手法に関する研究

抄録

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%.