Inverse Kinematic modeling of a class of continuum bionic handling arm

Lakhal, Othman; Melingui, Achille; Chibani, Abdelhakim; Escande, Coralie

doi:10.1109/aim.2014.6878268

Cited by 18 publications

(14 citation statements)

References 15 publications

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“…25,26 Description Robotino-XT, as shown in Figure 14(a), is a mobile robot manipulator based on an omnidirectional robot called Robotino. It is a smaller version of the robot ''Continuum Bionic Handling Assistant.''…”

Section: Experimental Validationmentioning

confidence: 99%

Generating optimal reference kinematic configurations for hyper-redundant parallel robots

Chibani

Mahfoudi

Chettibi³

et al. 2015

Proceedings of the Institution of Mechanical Engineers, Part I:

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International audienceIn this article, we propose an optimization process able to generate optimal kinematic configuration for spatial hyper-redundant manipulators with multiple rigid parallel modules. The proposed method uses a deterministic optimization scheme that evaluates the score of trial kinematic configurations while accounting for various geometric constraints. This versatile method is based on a simultaneous search for both the best curve capturing the overall kinematic robot posture and the platform distribution along this curve. This process is carried out using the powerful sequential quadra-tic programming technique. Numerical results are presented to illustrate the efficiency of the proposed approach. Finally, this model was validated by real measurements obtained with the continuum bionic handling arm of a mobile robot called Robotino-XT

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Section: Experimental Validationmentioning

confidence: 99%

Generating optimal reference kinematic configurations for hyper-redundant parallel robots

Chibani

Mahfoudi

Chettibi³

et al. 2015

Proceedings of the Institution of Mechanical Engineers, Part I:

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“…Finally, the elongations of each inter-vertebra are obtained through the IKES. For more details, we refer the interested reader to [27], [29].…”

Section: A Kinematics Of the Soft-continuum Manipulator Cbhamentioning

confidence: 99%

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

Lakhal

Melingui

Dherbomez

2019

2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)

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Additive manufacturing is an automated process for producing layer-by-layer material deposition. Recently this technology has been introduced in the industrial construction in order to print houses or smaller piece structures for on-site assembly, with complex geometry. In Additive manufacturing processes, the material deposition step is generally followed by a printing quality inspection step. However, the geometry of printed structures with minimal surfaces is sometimes complex, where rigid structure robots cannot reach certain zones to scan their surfaces. In this paper, a continuum-hyper-redundant manipulator equipped with a camera is attached to the endeffector of a mobile-manipulator robot for the quality inspection process. Indeed, Continuum manipulators can bend along structures with complex geometry; and this inherent flexibility makes them suitable for navigation and operation in congested environments. The number of controlled actuators being greater than the dimension of task space, this work is summarized in a trajectory tracking of hyper-redundant robots. This issue lies in the resolution of strongly nonlinear equations with a realtime computation. Thus, a hybrid methodology which combines the advantages of quantitative and qualitative approaches is used for modeling and resolution of the hyper-redundant robot kinematics. A kinematic controller was designed and a set of experiments was carried out to evaluate the level of efficiency of the proposed approach.

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“…Several approaches and methods have been proposed for solving the IKM of continuum robots such as cited in some research works. 4,6,11,20 Knowing that the accuracy of the model depends on the number of considered bending sections, for this case, a metaheuristic approach is proposed in this work. Summing up, the determination of each bending section endpoint that assures the desired task and compatibility with physical constraints of the robot is given in the following section.…”

Section: Determination Of Links' Length Based On Parallel Robot Morphmentioning

confidence: 99%

“…Furthermore, the IKM for multi-section robot with a special configuration has also been proposed by Jones and Walker 4 and Lakhal et al 11 To validate the model suggested in the work, 4 nevertheless the authors 4 have used specific software of symbolic computation to simulate the kinematic behavior of a continuum robot. They also studied the workspace and the configuration area to describe the constraints due to boundary limitations with respect to the lengths of robot.…”

Section: Introductionmentioning

confidence: 99%

“…They also studied the workspace and the configuration area to describe the constraints due to boundary limitations with respect to the lengths of robot. Moreover, Lakhal et al 11 have applied an optimization algorithm that is based on a sequential quadratic program (SQP). In the work, 6 the authors synthesized and validated an IKM for one bending section.…”

Section: Introductionmentioning

confidence: 99%

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A metaheuristic approach to solve inverse kinematics of continuum manipulators

Amouri

Mahfoudi

Zaatri

et al. 2017

Proceedings of the Institution of Mechanical Engineers, Part I:

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Continuum robot modeling is a research topic that focuses on ways to develop kinematic models while respecting some kinematics specificity as well as mechanical properties of such class of robots. The purpose of this article is to present a new alternative approach for solving inverse kinematic models for multi-sections of continuum manipulators. To achieve this work, it is assumed that each constitutive section is curved in a circular arc shape with an inextensible central structure axis. At first, the article presents a solution of an inverse kinematic model for one bending section and details some adopted methodologies, based on the identical inverse kinematic model of parallel robots, used for computation of the links’ length. The latter allows concatenating between multiple platforms to realize a bending section. The inverse kinematic model of the multi-section manipulator is then developed using a modular concept where the endpoint coordinates of each bending section are determined using a metaheuristic method. Finally, to validate the proposed approach, some simulation and experimental studies have been carried out on the Compact Bionic Handling Arm. From this investigation, it was found that the multiple test results show the ability of the developed metaheuristic approach to avoid obstacles and to adopt a real-time implementation with multi-section configuration. On the other hand, this type of concept can enable to model all continuum robots with multiple bending sections.

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Inverse Kinematic modeling of a class of continuum bionic handling arm

Cited by 18 publications

References 15 publications

Generating optimal reference kinematic configurations for hyper-redundant parallel robots

Generating optimal reference kinematic configurations for hyper-redundant parallel robots

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

A metaheuristic approach to solve inverse kinematics of continuum manipulators

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