3D shape estimation device and 3D shape estimation method of flexible elastic body

摘要

PROBLEM TO BE SOLVED: To provide a method for estimating a three-dimensional shape of a flexible elastic body, in which the method can rapidly estimate the shape of the flexible elastic body attached to a 6-axis sensor by only one 6-axis sensor.SOLUTION: When a force is applied to a tip end of an elastic body arranged on a six-axis sensor, a shape of the elastic body and a position and a posture of the tip end of the elastic body can be outputted by calculating formulas (14) to (24) from information about the force and the torque that can be obtained by the six-axis sensor with a spring constant, an elastic body length, an arrangement position and a posture of the elastic body arranged on the six-axis sensor as known values.SELECTED DRAWING: Figure 5