A geometrical approach to inverse kinematics for continuum manipulators

We present a new geometrical approach to solving inverse kinematics for continuous backbone (continuum) robot manipulators. First, this paper presents a solution to the inverse kinematics problem for a single-section trunk. Assuming end-points for all sections of a multi-section trunk are known, thi...

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Bibliographic Details
Main Authors: Neppalli, S., Csencsits, M.A., Jones, B.A., Walker, I.
Format: Conference Proceeding
Language:English
Subjects:
Algorithm design and analysis
Joints
Kinematics
Manipulators
Robot kinematics
Robots
Three dimensional displays
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Summary:We present a new geometrical approach to solving inverse kinematics for continuous backbone (continuum) robot manipulators. First, this paper presents a solution to the inverse kinematics problem for a single-section trunk. Assuming end-points for all sections of a multi-section trunk are known, this paper then details applying single-section inverse kinematics to each section of the multi-section trunk by compensating for resulting changes in orientation. Finally, an approach which computes per-section endpoints given only a final-section endpoint provides a complete solution to the multi-section inverse kinematics problem. The results of implementing these algorithms in simulation and on a physical continuum robot are presented and possible applications are discussed.
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2008.4651125