Dynamic Contact Force Estimation of Flexible Beam through a High Speed Vision

概要

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This paper discusses the way for estimating a dynamic contact force between a flexible beam and an environment by utilizing a high speed vision with an official frame rate of 1[kHz]. We utilize the equation of motion of flexible beam while a force is given at the end of the beam. The contact force can be estimated by solving the inverse problem where the contact force is estimated by measuring the shape of the beam by a high speed vision. We show that the contact force can be evaluated by knowing both the fixed point at base and another point on the beam. By utilizing the developed system, we also confirmed the basic idea experimentally.
公益社団法人計測自動制御学会の論文