Kinematics Model of Bionic Manipulator by Using Elliptic Integral Approach

Abstract

This paper suggests a variable curvature kinematics model for the bionic continuum robots (BCRs) using elliptic integral approach. For the BCR, the manipulator is assumed to be a flexible beam, in which a large deflection takes place due to external loadings. A six-DoF elephant trunk-like BCR known as Robotino-XT is considered here for study. The external load is assumed to be an equivalent moment calculated from the pneumatic forces applied on the bellow tube-like actuators. Optitrack motion-sensing vision system with Motive 2.0 interface is used to acquire the deflection and orientation of the tip of the trunk. The analytical results are validated with experimental data.

Joint-Space Kinematic Control of a Bionic Continuum Manipulator in Real-Time by Using Hybrid Approach

“…However, both constant and piece-wise constant curvature modeling approaches fail to accurately evaluate the end-effector pose of non-cylindrical cross-section manipulator segments, such as conic or bellow-type manipulator segments. Variable curvature models are developed to fit the backbone shape of a conic BCM for better tip accuracy [22], [25]. Similar to the geometric constant curvature model, the variable curvature model is developed for conic manipulators [22].…”

“…In another geometric modeling approach, the Pythagorean hodograph approach is used to map the length of a conic BCM to tip pose [23]. The authors in [25] proposed an exact analytical forward kinematic (FK) model for a single segment conic BCM based on an elliptic integral approach. On the other hand, the Cosserat-rod method, which deals explicitly with continuum structure, computes the most accurate results for the FK modeling of BCMs by employing numerical simulations [26].…”