Table of Contents
ISRN Robotics
Volume 2013, Article ID 212805, 9 pages
Research Article

Estimate a Flexible Link’s Shape by the Use of Strain Gauge Sensors

Mechanical Engineering Department, Iran University of Science and Technology, Narmak, Tehran 13114-16846, Iran

Received 29 June 2012; Accepted 8 August 2012

Academic Editors: D. K. Pratihar and A. Sabanovic

Copyright © 2013 M. H. Korayem et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper presents a method for estimating the flexible link’s shape by finite number of sensors. The position and orientation of flexible link are expressed as a function of curvature of the link. An interpolation technique gives this continuous curvature function from a finite set of the Wheatstone bridge made with strain gauges. For interpolation we can use different functions to find better way for estimation of link’s shape. Comparison between different types of function can show us best corresponding with nature of the link. Our case study is a single flexible link robot. A high-precision data logger is used as data acquisition instrument.