Trajectory Tracking of 3D Hybrid Manipulator Through Human Hand Motion

Trajectory Tracking of 3D Hybrid Manipulator Through Human Hand Motion Generally, industrial manipulators have parallel architecture but these are not generally used because of small workspace as compared to serial manipulators. The drawbacks of serial manipulators are their low accuracy and less load carrying capacity. Therefore, hybrid manipulators are considered to be useful because they are combination of serial and parallel manipulators. In this paper, a three-dimensional hybrid manipulator with two parallel manipulators serially connected to each other is proposed. The forward and inverse dynamics of the system is modelled with the help of bond graph. Thumb and index finger of a human right hand are considered as hybrid manipulators in this paper. The objective of present work is to track the trajectory by thumb in three-dimensional space while drawing an arc on a white board with the help of a marker pen. At the end, the simulation results and conclusions are given to prove that the response follows the command with negligible error. Hence, this type of hybrid manipulator is suitable to be used in multi-fingered robotic grippers, pick and place operations, moving things etc. Keywords Human hand · 3-D hybrid manipulator · Trajectory tracking · Overwhelming control · Bond graph · Dynamics 1 Introduction and tendons that http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Arabian Journal for Science and Engineering Springer Journals

Trajectory Tracking of 3D Hybrid Manipulator Through Human Hand Motion

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Publisher
Springer Berlin Heidelberg
Copyright
Copyright © 2018 by King Fahd University of Petroleum & Minerals
Subject
Engineering; Engineering, general; Science, Humanities and Social Sciences, multidisciplinary
ISSN
1319-8025
eISSN
2191-4281
D.O.I.
10.1007/s13369-018-3323-y
Publisher site
See Article on Publisher Site

Abstract

Generally, industrial manipulators have parallel architecture but these are not generally used because of small workspace as compared to serial manipulators. The drawbacks of serial manipulators are their low accuracy and less load carrying capacity. Therefore, hybrid manipulators are considered to be useful because they are combination of serial and parallel manipulators. In this paper, a three-dimensional hybrid manipulator with two parallel manipulators serially connected to each other is proposed. The forward and inverse dynamics of the system is modelled with the help of bond graph. Thumb and index finger of a human right hand are considered as hybrid manipulators in this paper. The objective of present work is to track the trajectory by thumb in three-dimensional space while drawing an arc on a white board with the help of a marker pen. At the end, the simulation results and conclusions are given to prove that the response follows the command with negligible error. Hence, this type of hybrid manipulator is suitable to be used in multi-fingered robotic grippers, pick and place operations, moving things etc. Keywords Human hand · 3-D hybrid manipulator · Trajectory tracking · Overwhelming control · Bond graph · Dynamics 1 Introduction and tendons that

Journal

Arabian Journal for Science and EngineeringSpringer Journals

Published: Jun 5, 2018

References

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