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2008
IEEE

A geometrical approach to inverse kinematics for continuum manipulators

10 years 3 months ago
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, 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 end-points given only a finalsection endpoint provides a complete solution to the multisection inverse kinematics problem. The results of implementing these algorithms in simulation and on a physical continuum robot are presented and possible applications are discussed.
Srinivas Neppalli, Matthew A. Csencsits, Bryan A.
Added 31 May 2010
Updated 31 May 2010
Type Conference
Year 2008
Where IROS
Authors Srinivas Neppalli, Matthew A. Csencsits, Bryan A. Jones, Ian D. Walker
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