Kinematic Calibration of a Multisection Bionic Manipulator

Author

Escande, Coralie ; Chettibi, Taha ; Merzouki, Rochdi ; Coelen, Vincent ; Pathak, P.M.

Author_Institution

LAGIS, Polytech´Lille, Villeneuve d´Ascq, France

Volume

20

Issue

2

fYear

2015

fDate

42095

Firstpage

663

Lastpage

674

Abstract

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.

Keywords

calibration; manipulator kinematics; shear modulus; CBHA; bionic arm; compact bionic handling assistant; constant curvature continuum robot theory; forward kinematic calibration; forward kinematic model; kinematic calibration; model calibration; multisection bionic manipulator; organic elephant trunk; six-degree-of-freedom rigid manipulator; trilateration method; Calibration; Electron tubes; Kinematics; Manipulators; Robot kinematics; Robot sensing systems; Bionic manipulator; forward kinematic modeling; kinematic calibration;

fLanguage

English

Journal_Title

Mechatronics, IEEE/ASME Transactions on

Publisher

ieee

ISSN

1083-4435

Type

jour

DOI

10.1109/TMECH.2014.2313741

Filename

6807732