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Performances Evaluation of Inverse Kinematic Models of a Compact Bionic Handling Assistant
Abstract : 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.
Cited literature [15 references]
https://hal.archives-ouvertes.fr/hal-01667923
Contributor : Inderjeet Singh Connect in order to contact the contributor
Submitted on : Tuesday, December 19, 2017 - 6:22:08 PM
Last modification on : Wednesday, March 23, 2022 - 3:51:24 PM
Contributor : Inderjeet Singh Connect in order to contact the contributor
Submitted on : Tuesday, December 19, 2017 - 6:22:08 PM
Last modification on : Wednesday, March 23, 2022 - 3:51:24 PM
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