Titre :

Inverse Kinematic Modeling of a class of Continuum Bionic Handling Arm

Auteur(s) :

Lakhal, Othman [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Melingui, Achille [Auteur]
Chibani, Abdelhakim [Auteur]
LAGIS-MOCIS
Escande, Coralie [Auteur]
LAGIS-MOCIS
Merzouki, Rochdi [Auteur]
LAGIS-MOCIS

Titre de la manifestation scientifique :

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

Ville :

Besançon

Pays :

France

Date de début de la manifestation scientifique :

2014-07-08

Date de publication :

2014-07-11

Discipline(s) HAL :

Informatique [cs]/Robotique [cs.RO]
Informatique [cs]/Systèmes et contrôle [cs.SY]
Informatique [cs]/Modélisation et simulation
Informatique [cs]/Automatique

Résumé en anglais : [en]

— This paper presents a development of Inverse Kinematic Model (IKM) of a class of Continuum Bionic Handling Arm (CBHA). The modeling approach is inspired from a model of a hyper-redundant backbone-based manipulator, ...
Lire la suite >— This paper presents a development of Inverse Kinematic Model (IKM) of a class of Continuum Bionic Handling Arm (CBHA). The modeling approach is inspired from a model of a hyper-redundant backbone-based manipulator, combined with an optimal placement of the backbones. The latter is obtained using an optimization algorithm, based on a Sequential Quadratic Program (SQP). The main interest of developing such model is to design an autonomous control of the CBHA. The high number of Degrees of Freedom (DoF) present on the continuum structure of the CBHA, makes difficult the synthesis of the analytical IKM for the overall arm. To resolve this issue, it is proposed to assimilate the CBHA's behavior to that of a hyper-redundant robot manipulator. This robot is represented by a concatenation of hybrid (parallel and serial) vertebrae along the vertebral column or backbones of the CBHA. The combination of all these vertebra allows the reconstruction with optimal configuration of the real posture of the continuum arm inside its workspace, with only the knowledge of the Cartesian coordinates of the robot pose. Simulations and experimental validation of the model demonstrate the efficiency of the modeling approach for this class of CBHA.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