Titre :

Performances Evaluation of Inverse Kinematic Models of a Compact Bionic Handling Assistant

Auteur(s) :

Singh, Inderjeet [Auteur]
Méthodes et Outils pour la Conception Intégrée de Systèmes [MOCIS]
Lakhal, Othman [Auteur]
Méthodes et Outils pour la Conception Intégrée de Systèmes [MOCIS]
Amara, Yacine [Auteur]
École nationale polytechnique [Alger, Algérie] [ENP]
Coelen, Vincent [Auteur]
Méthodes et Outils pour la Conception Intégrée de Systèmes [MOCIS]
Pathak, Pushparaj [Auteur]
Merzouki, Rochdi [Auteur]
Méthodes et Outils pour la Conception Intégrée de Systèmes [MOCIS]

Titre de la manifestation scientifique :

IEEE Conference on Robotics and Biomimetics (ROBIO)

Ville :

Macau

Pays :

Chine

Date de début de la manifestation scientifique :

2017-12-05

Discipline(s) HAL :

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

Résumé en anglais : [en]

Inverse Kinematic Model (IKM) is very crucial for real-time control of a robot for any application. Computing the IKM of continuum manipulators is a challenging task. Two types of methods exists; quantitative methods ...
Lire la suite >Inverse Kinematic Model (IKM) is very crucial for real-time control of a robot for any application. Computing the IKM of continuum manipulators is a challenging task. Two types of methods exists; quantitative methods describing a model-based approach; and qualitative methods, based on learning approach. As quantitative methods are based on mathematical expression, they are more flexible for extension (increase in number of sections or collaboration between more than one manipulator). In this paper, two quantitative approaches based on Newton Raphson iterative method and Damped Least Square method, are proposed for Compact Bionic Handling Assistant (CBHA) manipulator to solve inverse kinematics directly using Forward Kinematic Model (FKM). Experimental validation is done for these methods as well as they are compared with the existing approaches named Hybrid approach and Neural Network based learning approach.Lire moins >

Langue :

Anglais

Comité de lecture :

Oui

Audience :

Internationale

Vulgarisation :

Non

Collections :

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

Source :

Harvested from HAL