Abstract
Forward Kinematics is a stepping stone towards finding an inverse solution and subsequently a dynamic model of a robot. Hence a study and comparison of various Forward Kinematic Models (FKMs) is necessary for robot design. This paper deals with comparison of three FKMs on the same hyper-redundant Compact Bionic Handling Assistant (CBHA) manipulator under same conditions. The aim of this study is to project on modeling cooperative bionic manipulators. Two of these methods are quantitative methods, Arc Geometry HTM (Homogeneous Transformation Matrix) Method and Dual Quaternion Method, while the other one is Hybrid Method which uses both quantitative as well as qualitative approach. The methods are compared theoretically and experimental results are discussed to add further insight to the comparison. HTM is the widely used and accepted technique, is taken as reference and trajectory deviation in other techniques are compared with respect to HTM. Which method allows obtaining an accurate kinematic behavior of the CBHA, controlled in the real-time.
Highlights
Hyper-redundant manipulators represent a rapidly growing research field
In case of continuum robots, the most widely used method for modeling is arc geometry having the assumption of constant curvature
The transformation matrix of each section of Compact Bionic Handling Assistant (CBHA) is converted into dual quaternion form
Summary
Hyper-redundant manipulators represent a rapidly growing research field. There are many robots inspired from natural behaviours like elephant trunk [1], tentacles [2] and octopus [3] etc. In case of continuum robots, the most widely used method for modeling is arc geometry having the assumption of constant curvature. 6 operator ’o’ represents dual quaternion multiplication By using these equations, the transformation matrix of each section of CBHA is converted into dual quaternion form. Geometric-Neural Network Hybrid Method Hybrid approach is used to compute FKM [16] In this approach the assumption of constant curvature is not there but the extra assumption in this is that the CBHA is made up of 16 vertebras. This hybrid approach composes of both qualitative as well as quantitative methods: Geometric modelling as well as neural network technique. This experiment is done as free load condition means without gripper
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