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Circular deformation estimation for a flexible link

To address the tip positioning problem among flexible link robotic applications, we propose a new circular beam deformation model that is ideally suited for networked linear accelerometers and rate gyros. Importantly, the tip positioning problem of multiple-flexible-link system is reduced to the tip positioning problem of an individual flexible link subject to the circularly characterized deformation. The validity of the theoretical results is verified by experiments with a highly flexible single-link hydraulic manipulator.