Title :
Local compliance estimation via positive semidefinite constrained least squares
Author :
Krislock, Nathan ; Lang, Jochen ; Varah, Jim ; Pai, Dinesh K. ; Seidel, Hans Peter
Author_Institution :
Inst. of Appl. Math., Univ. of British Columbia, Vancouver, BC, Canada
Abstract :
We present a method to estimate a positive semidefinite matrix by linear least squares, and we apply this method to the estimation of local compliance matrices during deformable object modeling. Estimation of physical quantities from measurements has to consider noise due to measurement and modeling inaccuracy. Enforcing constraints during estimation can guarantee physically plausible results even under difficult measurement conditions.
Keywords :
least squares approximations; manipulators; matrix algebra; constrained linear least squares; deformable object; local compliance estimation; model estimation; positive semidefinite matrix; stiffness matrix; Application software; Deformable models; Force measurement; Least squares approximation; Least squares methods; Medical robotics; Medical simulation; Noise measurement; Strain measurement; Working environment noise; 65; Constrained linear least squares; deformable models; stiffness matrix;
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2004.832794
