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2022 | OriginalPaper | Buchkapitel

A New Geometric Method for Solving the Inverse Kinematics of Two-Segment Continuum Robot

verfasst von : Haoran Wu, Jingjun Yu, Jie Pan, Guanghao Ge, Xu Pei

Erschienen in: Intelligent Robotics and Applications

Verlag: Springer International Publishing

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Abstract

The inverse kinematics (IK) of continuum robot (CR) is an important factor to guarantee motion accuracy. How to construct a concise IK model is very essential for the real-time control of CR. A new geometric algorithm for solving the IK of CR is proposed in this paper. Based on Piecewise Constant Curvature (PCC) model, the kinematics model of CR is constructed and the envelope surface of the single segment is calculated. The IK of CR is obtained by solving the intersection of surfaces. The spatial problem is transformed into a plane using a set of parallel planes, and the intersection is solved using the k-means clustering algorithm. The algorithm's real-time performance and applicability are improved further by increasing the sampling rate and decreasing the range of included angles. A distinct sequence is designed for solving the IK of CR. The efficiency and effectiveness of geometric are validated in comparison to some of the most popular IK algorithms. Finally, the accuracy of the algorithm is further validated by a physical prototype experiment.

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Titel: A New Geometric Method for Solving the Inverse Kinematics of Two-Segment Continuum Robot
verfasst von: Haoran Wu
Jingjun Yu
Jie Pan
Guanghao Ge
Xu Pei
Verlag: Springer International Publishing
Buch: Intelligent Robotics and Applications
Print ISBN: 978-3-031-13821-8

Electronic ISBN: 978-3-031-13822-5

Copyright-Jahr: 2022
DOI: https://doi.org/10.1007/978-3-031-13822-5_10

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