3D curvature-based tip load estimation for continuum robots
Résumé
This letter presents a method intended for the estimation of
external force and moment applied at the tip of thin rods using
vision-based shape measurements, with a view to be applied on
continuum robots. A versatile vision process is developed that does
not require any additional markers nor sensors to provide an
accurate tri-dimensional reconstruction of the deformable rod
shape. Then, the tip loads (i.e., forces and moments) are directly
deduced from the curvature along this curve formed by deformed rod
thanks to the resolution of a linear system without requiring any
iterative optimization. The curvature is determined with a robust
method that allows filtering out measurement noise and artifacts.
Simulations show that this approach gives fast and precise results
in both 2D (planar forces estimation without torsion) and 3D
(spatial forces estimation). Experimental results on cantilever
rods demonstrate an accuracy of 2.2% and 2.7% of the applied forces
and moments, respectively.
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