Title :

Kinematic Calibration of a Multisection Bionic Manipulator

Author(s) :

Escande, Coralie [Auteur]
LAGIS-MOCIS
Chettibi, Taha [Auteur]
Merzouki, Rochdi [Auteur]
Méthodes et Outils pour la Conception Intégrée de Systèmes [MOCIS]
Coelen, Vincent [Auteur]
LAGIS-MOCIS
Pathak, Pushparaj [Auteur]

Journal title :

IEEE/ASME Transactions on Mechatronics

Pages :

663 - 674

Publisher :

Institute of Electrical and Electronics Engineers

Publication date :

2015

ISSN :

1083-4435

English keyword(s) :

Bionic manipulator
Forward kinematic modeling
Kinematic calibration

HAL domain(s) :

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

English abstract : [en]

—This paper deals with the forward kinematic calibration of a bionic arm inspired from the organic elephant trunk and called compact bionic handling assistant (CBHA). First, a forward kinematic model is developed based on ...
Show more >—This paper deals with the forward kinematic calibration of a bionic arm inspired from the organic elephant trunk and called compact bionic handling assistant (CBHA). First, a forward kinematic model is developed based on the principle of the constant curvature continuum robot theory. Then, two experimental setups are proposed in order to carry out the model calibration and validation. The first one is based on the trilateration method, while the second one is based on the coupling of the CBHA with a rigid six-degree-of-freedom rigid manipulator. The aim of the calibration is to enhance the precision of the forward kinematic model.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