Title :

Hybrid Approach for Modeling and Solving of Kinematics of a Compact Bionic Handling Assistant Manipulator

Author(s) :

Lakhal, Othman [Auteur]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]
Melingui, Achille [Auteur]
University of Yaoundé [Cameroun]
Merzouki, Rochdi [Auteur]
École polytechnique universitaire de Lille [Polytech Lille]
Méthodes et Outils pour la Conception Intégrée de Systèmes [MOCIS]
Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189 [CRIStAL]

Journal title :

IEEE/ASME Transactions on Mechatronics

Pages :

1326 - 1335

Publisher :

Institute of Electrical and Electronics Engineers

Publication date :

2016-06

ISSN :

1083-4435

HAL domain(s) :

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

English abstract : [en]

—This paper deals with a methodology for a real-time solving of a complex kinematics of a class of continuum manipu-lators, namely the Compact Bionic Handling Assistant (CBHA). First, a quantitative approach is used to ...
Show more >—This paper deals with a methodology for a real-time solving of a complex kinematics of a class of continuum manipu-lators, namely the Compact Bionic Handling Assistant (CBHA). First, a quantitative approach is used to model kinematically the CBHA inspired from the modeling of parallel rigid manipulators. For this case, the CBHA is modeled as a series of vertebrae, where each vertebra is connected to the next one through a flexible link. The latter named an inter-vertebra is modeled by a 3UPS-1UP (Universal-Prismatic-Spherical) joints. The kinematic models of the CBHA are derived from the Inverse Kinematic Equations (IKE) of each inter-vertebra. A qualitative approach based on neural networks is used to provide approximated solutions of the IKE for real-time implementation. Thus, the combination of the advantages of quantitative and qualitative approaches allows proposing a hybrid methodology for accurate modeling and solving the kinematics of this class of continuum robots. A set of experiments are conducted using a CBHA in order evaluate the level of efficiency of the proposed hybrid approach.Show less >

Language :

Anglais

Popular science :

Non

Collections :

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

Source :

Harvested from HAL