Towards Extending Forward Kinematic Models on Hyper-Redundant Manipulator to Cooperative Bionic Arms

Inderjeet Singh (1) , Othman Lakhal (1) , Rochdi Merzouki (1)

1 CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189

Forward Kinematics is a stepping stone towards finding an inverse solution and subsequently a dynamic model of a robot. Hence a study and comparison of various Forward Kinematic Models (FKMs) is necessary for robot design. This paper deals with comparison of three FKMs on the same hyper-redundant Compact Bionic Handling Assistant (CBHA) manipulator under same conditions. The aim of this study is to project on modeling cooperative bionic manipulators.Two of these methods are quantitative methods, Arc Geometry HTM (Homogeneous Transformation Matrix) Method and Dual Quaternion Method, while the other one is Hybrid Method which uses both quantitative as well as qualitative approach. The methods are compared theoretically and experimental results are discussed to add further insight to the comparison. HTM is the widely used and accepted technique, is taken as reference and trajectory deviation in other techniques are compared with respect to HTM. Which method allows obtaining an accurate kinematic behavior of the CBHA, controlled in the real-time.

Domaines: Automatique / Robotique; Robotique [cs.RO]

Inderjeet Singh, Othman Lakhal, Rochdi Merzouki. Towards Extending Forward Kinematic Models on Hyper-Redundant Manipulator to Cooperative Bionic Arms. 13th European Workshop on Advanced Control and Diagnosis (ACD 2016), Nov 2016, Lille, France. ⟨10.1088/1742-6596/783/1/012056⟩. ⟨hal-01446131⟩