Closed-Form Inverse Kinematics for Continuum Manipulators

This paper presents a novel, analytical approach to solving inverse kinematics for multi-section continuum robots, defined as robots composed of a continuously bendable backbone. The problem is decomposed into several simpler subproblems. First, this paper presents a solution to the inverse kinemati...

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Bibliographic Details
Published inAdvanced robotics Vol. 23; no. 15; pp. 2077 - 2091
Main Authors Neppalli, Srinivas, Csencsits, Matthew A., Jones, Bryan A., Walker, Ian D.
Format Journal Article
LanguageEnglish
Published Taylor & Francis Group 01.01.2009
Subjects
CONTINUUM ROBOT
INVERSE KINEMATICS
Online AccessGet full text
ISSN0169-1864
1568-5535
DOI10.1163/016918609X12529299964101

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Summary:This paper presents a novel, analytical approach to solving inverse kinematics for multi-section continuum robots, defined as robots composed of a continuously bendable backbone. The problem is decomposed into several simpler subproblems. First, this paper presents a solution to the inverse kinematics problem for a single-section trunk. Assuming endpoints 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 the 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 prototype continuum robot are presented and possible applications discussed.
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ISSN:0169-1864
1568-5535
DOI:10.1163/016918609X12529299964101