Title :

Towards Accurate Shape Reconstruction of Compact Bionic Handling Arm

Author(s) :

Singh, Inderjeet [Auteur]
Méthodes et Outils pour la Conception Intégrée de Systèmes [MOCIS]
Amara, Yacine [Auteur]
École nationale polytechnique [Alger, Algérie] [ENP]
Singh, Manarshhjot [Auteur]
Méthodes et Outils pour la Conception Intégrée de Systèmes [MOCIS]
Merzouki, Rochdi [Auteur]
LAGIS-MOCIS

Conference title :

IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

City :

Auckland

Country :

Nouvelle-Zélande

Start date of the conference :

2018-07-09

HAL domain(s) :

Informatique [cs]/Robotique [cs.RO]
Informatique [cs]/Automatique
Sciences de l'ingénieur [physics]/Automatique / Robotique

English abstract : [en]

Continuum robots can continuously curve to give much more flexibility than rigid robots. Usually, continuum robots are made up of soft flexible material and have complex structures to provide high dexterity of motion. The ...
Show more >Continuum robots can continuously curve to give much more flexibility than rigid robots. Usually, continuum robots are made up of soft flexible material and have complex structures to provide high dexterity of motion. The presence of these factors, i.e., soft material and complex structure, make mathematical modeling of continuum robots a cumbersome task. This paper aims to discuss the Pythagorean Hodograph (PH) based method for shape reconstruction of continuum robots and proposes a methodology for improving this reconstructed shape using experimental data. The method is successfully applied to Compact Bionic Handling Arm (CBHA) manipulator. The results show a clear improvement in the accuracy.Show less >

Language :

Anglais

Peer reviewed article :

Oui

Audience :

Internationale

Popular science :

Non

Collections :

• Centre de Recherche en Informatique, Signal et Automatique de Lille (CRIStAL) - UMR 9189

Source :

Harvested from HAL