A new approach to solve inverse kinematics of a planar flexible continuum robot

2014 ◽  
Author(s):  
Ammar Amouri ◽  
Chawki Mahfoudi ◽  
Abdelouahab Zaatri ◽  
Halim Merabti
Keyword(s):  
Inverse Kinematics ◽  
New Approach ◽  
Continuum Robot

scholarly journals A New Approach for Solving the Inverse Kinematics of Continuum Robot Based on Piecewise Constant Curvature Model

2021 ◽  
Author(s):  
Haoran Wu ◽  
Jingjun Yu ◽  
Jie Pan ◽  
Xu Pei
Keyword(s):  
Motion Control ◽  
Constant Curvature ◽  
Inverse Kinematics ◽  
Clustering Method ◽  
Continuum Robots ◽  
New Approach ◽  
Piecewise Constant ◽  
Continuum Robot ◽  
Distinct Sequence ◽  
The Continuum

Abstract The inverse kinematics of continuum robot is an important factor to guarantee the motion accuracy. How to construct a concise inverse kinematics model is very essential for the motion control of continuum robot. In this paper, a new method for solving the inverse kinematics of continuum robot is proposed based on the geometric and numerical method. Assumed that the deformation of the continuum robot is Piecewise Constant Curvature model (PCC), the envelope surface of the continuum robot based on single-segment is modeled and calculated. The clustering method is used to calculate the intersection of the curves. Then, a distinct sequence is designed for solving the inverse kinematics of continuum robot, and it is also suitable for the multi-segment continuum robots in space. Finally, the accuracy of the inverse kinematics algorithm is verified by the simulation and numerical experiment. The experiment results illustrate that this algorithm is with higher accuracy compared with the Jacobian iterative algorithm.

Singularity analysis of a 3-DOF parallel manipulator with R-P-S joint structure

Robotica ◽  
2005 ◽  
Vol 24 (1) ◽  
pp. 131-142 ◽  
Author(s):  
Alexei Sokolov ◽  
Paul Xirouchakis
Keyword(s):  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Optimization Procedure ◽  
Singularity Analysis ◽  
Robot Design ◽  
Geometrical Method ◽  
New Approach ◽  
Joint Structure ◽  
Working Space ◽  
Robot Trajectory

This paper presents a singularity analysis for a 3-DOF parallel manipulator with R-P-S (Revolute-Prismatic-Spherical) joint structure. All three types of singularities are investigated with most attention paid for direct kinematics singularities (DKS). The loci of inverse kinematics and combined singularities are identified using a new approach. The equation of DKS is defined first from the condition of existence of an instantaneous motion. The geometrical method is used to find the loci of trajectories corresponding to DKS-s. As a result of these investigations, an optimization procedure was proposed of a robot design in order to have an enlarged singularity free part of the working space. The construction of a singularity free path is discussed without changing the robot trajectory by selecting the appropriate inverse kinematics task solution.

Solution for a New Sub-Problem in Screw Theory and its’ Application in the Inverse Kinematics of a Manipulator

2010 ◽  
Vol 34-35 ◽  
pp. 271-275 ◽  
Author(s):  
Yue Sheng Tan ◽  
Peng Le Cheng ◽  
Ai Ping Xiao
Keyword(s):  
Inverse Kinematics ◽  
Screw Theory ◽  
New Approach ◽  
General Configuration ◽  
Close Solution

Three basic sub-problems of screw theory are acceptable for some particular configuration manipulators’ inverse kinematics, which can not solve the inverse kinematics of all configuration manipulators. A new sub-problem is presented and the inverse kinematics thereof is solved in this paper. Based on the extended sub-problem, a manipulator, the inverse kinematics of which can not be solved by the three sub-problems without the participation of the new sub-problem, is constructed. The inverse kinematics of the manipulator is solved with the help of the extended sub-problem。Therefore a close solution is gained. The sub-problem herein can be applied directly in the inverse kinematics of a manipulator, providing a new approach for the inverse kinematics of a general configuration manipulator.

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