NDLI: Forward kinematics of a compliant pneumatically actuated redundant manipulator

Content Provider	IEEE Xplore Digital Library
Author	Mahl, T. Hildebrandt, A. Sawodny, O.
Copyright Year	2012
Description	Author affiliation: Research Department of the Festo AG & Co. KG, 73726 Esslingen, Germany (Hildebrandt, A.) \|\| Institute for System Dynamics, University of Stuttgart, 70569, Germany (Mahl, T.; Sawodny, O.)
Abstract	The Bionic Handling Assistant is a compliant, pneumatically actuated continuum manipulator designed to be used for cooperative manipulation. In 2010, it won the German Federal Presidents prize for achievements in technology and innovation, called Deutscher Zukunftspreis. Unlike most manipulators, its flexible structure is link and actuator at the same time, copying an elephant's trunk. For this robot arm, the forward kinematics is derived and validated by test bench measurements. The forward kinematics is an analytical description of the manipulator's backbone curvature. It describes the manipulator's tool center point pose (position and orientation) dependent of the actuator expansions. The kinematic model is assembled of several in series connected three degrees of freedom parallel mechanisms of type 3UPS-1PU.
Starting Page	1267
Ending Page	1273
File Size	988850
Page Count	7
File Format	PDF
ISBN	9781457721182
e-ISBN	9781457721199
DOI	10.1109/ICIEA.2012.6360917
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-07-18
Publisher Place	Singapore
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Kinematics Actuators Manipulators Wires Joints Indexes Geometry
Content Type	Text
Resource Type	Article

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