Performances evaluation of inverse kinematic models of a compact bionic handling assistant

Abstract

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.

PH Model-Based Shape Reconstruction of Heterogeneous Continuum Closed Loop Kinematic Chain: An Application to Skipping Rope

“…Lengths of the three tubes are also recorded from the potentiometer wire sensors of the arm as the reference lengths. Two inverse kinematic methods already exist for CBHA arm: 1) Hybrid Method [10] 2) Newton Raphson Method [11]. Therefore the proposed method, as well as existing methods, are compared with the reference lengths.…”

“…A hybrid approach (quantitative as well as qualitative) [10] is used for IKM of CBHA manipulator in which a geometrical approach is used to compute the inverse kinematic equations of the CBHA manipulator and then NN is used to solve these equations due to their high non-linearity. In [11], various IKM models are compared for CBHA manipulator in terms of accuracy and time cost. Furthermore, there are many works in which sensors are used to reconstruct the shape of the continuum manipulators [12], [13], [14].…”

“…In robotics field, PH curves are used mainly for the trajectory planning purposes. PH curves have been used in 3D path planning of three unmanned aerial vehicles (UAVs), as well as to avoid obstacles in their path [11]. In [18], PH curves are utilized to model spatial continuum manipulators for the first time, which is being extended in this paper.…”

Towards Accurate Shape Reconstruction of Compact Bionic Handling Arm

“…These quadratic polynomials are inserted in eqs. (8,9,10) and integrated from both sides to yield the general form of quintic PH curve r(h):…”

“…Inverse kinematic model (IKM) of a continuum manipulator is described using feed-forward neural networks in [7]. In [8], various IKM models (Hybrid approach, Neural Network approach, Newton Raphson approach and Damped least square approach) for CBHA manipulator are compared on the basis of accuracy and time cost. Furthermore, in case of shape reconstruction of continuum manipulators, sensors are used in most of the works [9], [10], [11].…”