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

@article{Lakhal2016HybridAF,
  title={Hybrid Approach for Modeling and Solving of Kinematics of a Compact Bionic Handling Assistant Manipulator},
  author={Othman Lakhal and Achille Melingui and Rochdi Merzouki},
  journal={IEEE/ASME Transactions on Mechatronics},
  year={2016},
  volume={21},
  pages={1326-1335}
}
This paper deals with a methodology for real-time solving of a complex kinematics of a class of continuum manipulators, 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 intervertebra is modeled by three… CONTINUE READING

Citations

Publications citing this paper.
SHOWING 1-10 OF 18 CITATIONS

Dynamic Control of the Bionic Handling Assistant

VIEW 13 EXCERPTS
CITES METHODS
HIGHLY INFLUENCED

Control of a Hyper-Redundant Robot for Quality Inspection in Additive Manufacturing for Construction

VIEW 3 EXCERPTS
CITES BACKGROUND & METHODS

References

Publications referenced by this paper.
SHOWING 1-10 OF 46 REFERENCES

Kinematics for multisection continuum robots

VIEW 9 EXCERPTS
HIGHLY INFLUENTIAL

NOVEL KINEMATICS FOR CONTINUUM ROBOTS

VIEW 9 EXCERPTS
HIGHLY INFLUENTIAL

Efficient Exploratory Learning of Inverse Kinematics on a Bionic Elephant Trunk

VIEW 2 EXCERPTS

Forward kinematic of a class of continuum bionic handling arm

  • O. Lakhal, A. Melingui, T. Morales, C. Escande, R. Merzouki
  • presented at the IEEE Int. Conf. Robotics Biomimetics, Besancon, France, 2014.
  • 2014
VIEW 2 EXCERPTS