Галерея 3185377
![](/file/862abecd1178237023d1f.gif)
Галерея 3185377
All Books Conferences Courses Journals & Magazines Standards Authors Citations
Efficacy of the 3D EAS Representation
Hybrid Data-Driven and Analytical Approach
Abstract: Due to the compliance of tendon-driven continuum robots, carrying a load or experiencing a tip force result in variations in backbone curvature. While the spatial robot c... View more
Due to the compliance of tendon-driven continuum robots, carrying a load or experiencing a tip force result in variations in backbone curvature. While the spatial robot configuration theoretically needs an infinite number of parameters for exact description, it can be well approximated using Euler Arc Splines which use only six of them. In this letter, we first show the accuracy of this representation by fitting the Euler Arc splines directly to experimentally measured robot shapes. Additionally, we propose a 3D static model that can account for gravity, friction and tip forces. We demonstrate the utility of using efficient parameterization by analyzing the computation time of the proposed model and then, using it to propose a hybrid model that combines physics-based model with observed data. The average tip error for the Euler arc spline representation is
0.43
% and the proposed static model is
3.25
% w.r.t. robot length. The average computation time is
0.56 \,\mathrm{ms}
for nonplanar deformations for a robot with ten disks. The hybrid model reduces the maximum error predicted by the static model from
8.6
% to
5.1
% w.r.t. robot length, while using 30 observations for training.
Published in: IEEE Robotics and Automation Letters ( Volume: 7 , Issue: 3 , July 2022 )
References is not available for this document.
IEEE Account
Change Username/Password
Update Address
Purchase Details
Payment Options
Order History
View Purchased Documents
Need Help?
US & Canada: +1 800 678 4333
Worldwide: +1 732 981 0060
Contact & Support
Tendon-driven continuum robots (TDCRs) have been widely studied in recent literature due to their applications in medicine and industry. They are a class of continuum robots actuated by the pull and release of tendons routed along the backbone. Point of termination of these tendons marks the end of a segment. Due to their slender flexible backbones they can bend continuously in 3D space, allowing their use in inspecting regions with constricted entry-points. They are compliant as well, and undergo deformations when acted on by external forces. Predicting and simulating their behaviour in real-time is required for their design, planning, and control.
2015 IEEE International Conference on Mechatronics and Automation (ICMA)
A not-for-profit organization, IEEE is the world's largest technical professional organization dedicated to advancing technology for the benefit of humanity.
© Copyright 2023 IEEE - All rights reserved.
A not-for-profit organization, IEEE is the world's largest technical professional organization dedicated to advancing technology for the benefit of humanity. © Copyright 2023 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.
All Books Conferences Courses Journals & Magazines Standards Authors Citations
Efficacy of the 3D EAS Representation
Hybrid Data-Driven and Analytical Approach
Abstract: Due to the compliance of tendon-driven continuum robots, carrying a load or experiencing a tip force result in variations in backbone curvature. While the spatial robot c... View more
Due to the compliance of tendon-driven continuum robots, carrying a load or experiencing a tip force result in variations in backbone curvature. While the spatial robot configuration theoretically needs an infinite number of parameters for exact description, it can be well approximated using Euler Arc Splines which use only six of them. In this letter, we first show the accuracy of this representation by fitting the Euler Arc splines directly to experimentally measured robot shapes. Additionally, we propose a 3D static model that can account for gravity, friction and tip forces. We demonstrate the utility of using efficient parameterization by analyzing the computation time of the proposed model and then, using it to propose a hybrid model that combines physics-based model with observed data. The average tip error for the Euler arc spline representation is
0.43
% and the proposed static model is
3.25
% w.r.t. robot length. The average computation time is
0.56 \,\mathrm{ms}
for nonplanar deformations for a robot with ten disks. The hybrid model reduces the maximum error predicted by the static model from
8.6
% to
5.1
% w.r.t. robot length, while using 30 observations for training.
Published in: IEEE Robotics and Automation Letters ( Volume: 7 , Issue: 3 , July 2022 )
References is not available for this document.
IEEE Account
Change Username/Password
Update Address
Purchase Details
Payment Options
Order History
View Purchased Documents
Need Help?
US & Canada: +1 800 678 4333
Worldwide: +1 732 981 0060
Contact & Support
Scheduled Maintenance: On Friday, March 10, IEEE Xplore will undergo scheduled maintenance from 7:00 AM-7:00 PM ET (noon-midnight UTC). During this time, there may be intermittent impact on performance. We apologize for any inconvenience.
Tendon-driven continuum robots (TDCRs) have been widely studied in recent literature due to their applications in medicine and industry. They are a class of continuum robots actuated by the pull and release of tendons routed along the backbone. Point of termination of these tendons marks the end of a segment. Due to their slender flexible backbones they can bend continuously in 3D space, allowing their use in inspecting regions with constricted entry-points. They are compliant as well, and undergo deformations when acted on by external forces. Predicting and simulating their behaviour in real-time is required for their design, planning, and control.
2015 IEEE International Conference on Mechatronics and Automation (ICMA)
A not-for-profit organization, IEEE is the world's largest technical professional organization dedicated to advancing technology for the benefit of humanity.
© Copyright 2023 IEEE - All rights reserved.
A not-for-profit organization, IEEE is the world's largest technical professional organization dedicated to advancing technology for the benefit of humanity. © Copyright 2023 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.
[축구] '토트넘 주장' GK 요리스, 무릎 인대 손상…최소 6주 아웃
[4]
ON
댓글
BEST ON
23.02.08 21:22
0
0
신고
23.02.08 21:23
4
0
신고
23.02.08 21:30
9
0
신고
23.02.09 06:59
0
0
신고
게시판
BEST
더보기
극단적 선택 전씨,이재명 옆집 총괄 관리자였다
유승민 "이재명, 죽음의 행렬 멈춰야···다섯 명째 소중한 생명이 죽었다"
유동규 “10년간 이재명 위해서 산다고 스스로 세뇌…저만 공격하는 모습 괘씸한
이재명 경기지사 때 초대 비서실장, 숨진 채 발견…극단선택 추정
'챔스 탈락' 토트넘 분열 조짐…직원들, 무계획 콘테에 '환멸'
샘 레이미 "'스파이더맨', '닥터 스트레인지' 다시 맡을 생각 있다"
[더 룸] 리메이크 확정
이재명 주변인 5번째 죽음..'김성 태 모친상' 대리 조문한 당사자
[콘셉트 포토#3] 엔믹스 "expérgo"
스필버그 신작 '파벨만스' 이동진 간단평
이재명 경기지사 시절 초대 비서실장 자택서 숨진 채 발견(종합)
이재명 前비서실장 숨진채 발견… 주변인 다섯번째 죽음
[속보] 이재명 경기지사 시절 초대 비서실장 숨진 채 발견
[MCU] 왓이프 시즌 2 공개 연기
블랙핑크 전용기 타고 4.2만km, 지구 한바퀴 돌았네
이재명 경기지사 시절 초대 비서실장 숨진 채 발견...극단 선택한 듯
[스핀오프 요돈나3](데이터 주의)카리자키 의 요돈나 작업걸기 도전
[아픈 건 싫으니까~2기] 스크램블! 10종의 유전자 이하 계시말소
기본
구버전
제목
본문
제목+본문
글쓴이
댓글
검색
게임
리그 오브 레전드
옥토패스 트래블러 시리즈
용과 같이 시리즈 공략 게시판
러브 라이브
던전 앤 파이터
더 디비전2
파이어 엠블렘 시리즈 공략 게시판
갤러리
음식 갤러리
피규어 갤러리
프라모델 캐릭터모형 갤러리
콘솔 영상
PC온라인 영상
프라모델 모형 리뷰 갤러리
추억의 게임 갤러리
커뮤니티
유머 게시판
정치유머 게시판
플레이스테이션 게임 이야기
피파 코인 / 피파 온라인 거래
프라모델 이야기
질문 게시판
작업장_커뮤니티
바이오 하자드 RE:4
루프 에이트
인게이지 킬
베리어스 데이라이프
림버스 컴퍼니
아이돌리 프라이드
클래시: 아티팩트 오브 카오스
마토 아노말리스
재난탐정 사이가 ~명상할 수 없는 괴사건~
Ib (이브)
리뎀션 리퍼즈
데드사이드 클럽
ONI: 최고의 오니를 향한 여정
스카스 어보브
애프터 더 폴
스타워즈: 갤럭시 엣지 이야기
더 라이트 브리게이드
헬로 네이버: 구출 대작전
블루아카
다크앤다커
버튜버
원신
@
하이브
롤
다크
말딸
야구
원피스
유희왕
후방
닼닼
스즈메
다크 앤 다커
라오
프리큐어
개인정보취급방침
|
청소년보호정책
|
이용약관
|
기사제보/Press
|
광고/제휴문의
|
루리웹소개
|
고객센터
|
루리웹 RSS
|
모바일웹으로 고정
루리웹닷컴 | 서울시 송파구 올림픽로35가길 10 B-602 | 등록번호 서울 아02156 | 발행인 박병욱 | 편집인 이장원 | 등록일 2012.06.13 | 청소년보호책임자 진인환
위 내용에 대한 저작권 및 법적 책임은 자료제공사 또는 글쓴이에 있으며 ruliweb의 입장과 다를 수 있습니다. Copyright (c) www.ruliweb.com All rights reserved.
Shortcuts zu anderen Sites, um außerhalb von DuckDuckGo zu suchen Mehr erfahren
Descubre la mejor forma de comprar online y obtén al mejor precio los productos que necesitas. Sólo en CUESTA MENOS.
We would like to show you a description here but the site won't allow us.
We would like to show you a description here but the site won't allow us.
23. Juni 2022 Due to the compliance of tendon-driven continuum robots, carrying a load or experiencing a tip force result in variations in backbone curvature. While the spatial robot configuration theoretically needs an infinite number of parameters for exact description, it can be well approximated using Euler Arc Splines which use only six of them. In this letter, we first show the accuracy of this ...
8. Feb. 2023 '토트넘 주장' GK 요리스, 무릎 인대 손상…최소 6주 아웃
Hilf deinen Freunden und Verwandten, der Seite der Enten beizutreten!
Schütze Deine Daten, egal auf welchem Gerät.
Bleibe geschützt und informiert mit unseren Privatsphäre-Newslettern.
Wechsel zu DuckDuckGo und hole dir deine Privatsphäre zurück!
Benutze unsere Seite, die nie solche Nachrichten anzeigt:
Hilf deinen Freunden und Verwandten, der Seite der Enten beizutreten!
Bleibe geschützt und informiert mit unseren Privatsphäre-Newslettern.
Links erforschen, um auf Suchergebnisse anderer Websites zu gelangen.
Wir zeigen Ihnen, wie du deine Privatsphäre online besser schützen kannst.
Джейн показывает себя в обнаженном виде и демонстрирует как она любит развлекаться с женским полом
Две красивых молодых азиатки сосут член и помогают ручками
Галерея 2925348