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Inverse Kinematics with a Geometrical Approximation for Multi-Segment Flexible Curvilinear Robots

by Sehun Kim 1, Wenjun Xu 1 and Hongliang Ren 1,2,*
Department of Biomedical Engineering, National University of Singapore, Singapore 119077, Singapore
National University of Singapore Suzhou Research Institute, Suzhou 215125, China
Author to whom correspondence should be addressed.
Robotics 2019, 8(2), 48;
Received: 1 April 2019 / Revised: 31 May 2019 / Accepted: 12 June 2019 / Published: 19 June 2019
(This article belongs to the Special Issue Robotics, Imaging, and Navigation Sensors for Medical Applications)
Despite research related to flexible or continuum curvilinear robots, there lacks a common simulation tool for continuum robots, which are unlike rigid robots. Thus, in this paper, a robotics toolbox is utilized to model a wire-driven flexible manipulator as one of the continuum robots. Constant curvature property can enable the robotics toolbox to represent the flexible manipulator and validate its kinematics. Moreover, because the closed-form inverse kinematics methods developed previously for real-time control conceded limitations in modeling some continuum robots, we hereby develop an inverse kinematics method for the wire-driven flexible manipulator which can provide fast and reliable inverse results. Experimental results showed that geometrical information offered a stable starting point for the proposed inverse kinematics algorithm. Moreover, the first and second derivatives of a fitness function further contributed to a fast-converging solution within a few microseconds. Lastly, for the potential feasibility of an active compliance controller without physical force/torque sensors, a reaction torque observer was investigated for a flexible manipulator with direct drive mechanisms. View Full-Text
Keywords: inverse kinematics; geometrical approximation; curvilinear robots inverse kinematics; geometrical approximation; curvilinear robots
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Kim, S.; Xu, W.; Ren, H. Inverse Kinematics with a Geometrical Approximation for Multi-Segment Flexible Curvilinear Robots. Robotics 2019, 8, 48.

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