Geometric modelling of multisection bionic manipulator: Experimental validation on RobotinoXT

Abstract

This paper deals firstly with experimental validation of the forward geometric models of a bionic manipulator, developed for the case of multi-section. This bionic manipulator is the main component of the mobile-manipulator robot called RobotinoXT. The choice of RobotinoXT is due to the industrial based research on mobile-bionic manipulator robot. The model is used for the overall accurate control of the position and the orientation of the end of the gripper relative to the mobile platform. Secondly, the paper describes methodology of the calculation of the inverse geometric model applied to one bending section.