Collision avoidance for continuum robot using FABRIK algorithm

Abstract

Continuum robots are manipulators able to bend at any point along their structure. This feature allows continuum robots to work in areas with complex geometry. In this regard, they are used as instruments and endoscopes in industry and medicine. Inverse kinematics for continuum robots is using for control and path planning. Recently, Forward And Backward Reaching Inverse Kinematics (FABRIK) algorithm has been used for solving inverse kinematics issue for continuum robots. For this, arcs of continuum robot are simplified to virtual links. But virtual links can not be used to define the distance between continuum robot body and obstacle without restoring whole robot section. In this paper, we propose a method for obstacle avoidance for multi-section continuum robot using FABRIK algorithm. The simulation results for the planar case show that the proposed method is able to avoid unwanted collisions.

Original language	English
Title of host publication	Proceedings of 2019 12th International Conference "Management of Large-Scale System Development", MLSD 2019
Editors	Anatoly Tsvirkun
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781728117300
DOIs	https://doi.org/10.1109/MLSD.2019.8911070
Publication status	Published - Oct 2019
Event	12th International Conference "Management of Large-Scale System Development", MLSD 2019 - Moscow, Russian Federation Duration: 1 Oct 2019 → 3 Oct 2019

Publication series

Name	Proceedings of 2019 12th International Conference &quot;Management of Large-Scale System Development&quot;, MLSD 2019

Conference

Conference	12th International Conference "Management of Large-Scale System Development", MLSD 2019
Country	Russian Federation
City	Moscow
Period	1.10.19 → 3.10.19

Keywords

Collision avoidance
Continuum robot
FABRIK
Kinematics

ASJC Scopus subject areas

Computer Networks and Communications
Hardware and Architecture
Information Systems
Information Systems and Management
Safety, Risk, Reliability and Quality
Management of Technology and Innovation

Access to Document

10.1109/MLSD.2019.8911070

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Gerget, O. M., & Kolpashchikov, D. Y. (2019). Collision avoidance for continuum robot using FABRIK algorithm. In A. Tsvirkun (Ed.), Proceedings of 2019 12th International Conference "Management of Large-Scale System Development", MLSD 2019 [8911070] (Proceedings of 2019 12th International Conference &quot;Management of Large-Scale System Development&quot;, MLSD 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/MLSD.2019.8911070

Collision avoidance for continuum robot using FABRIK algorithm. / Gerget, Olga M.; Kolpashchikov, Dmitrii Yu.

Proceedings of 2019 12th International Conference "Management of Large-Scale System Development", MLSD 2019. ed. / Anatoly Tsvirkun. Institute of Electrical and Electronics Engineers Inc., 2019. 8911070 (Proceedings of 2019 12th International Conference &quot;Management of Large-Scale System Development&quot;, MLSD 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Gerget, OM & Kolpashchikov, DY 2019, Collision avoidance for continuum robot using FABRIK algorithm. in A Tsvirkun (ed.), Proceedings of 2019 12th International Conference "Management of Large-Scale System Development", MLSD 2019., 8911070, Proceedings of 2019 12th International Conference &quot;Management of Large-Scale System Development&quot;, MLSD 2019, Institute of Electrical and Electronics Engineers Inc., 12th International Conference "Management of Large-Scale System Development", MLSD 2019, Moscow, Russian Federation, 1.10.19. https://doi.org/10.1109/MLSD.2019.8911070

Gerget OM, Kolpashchikov DY. Collision avoidance for continuum robot using FABRIK algorithm. In Tsvirkun A, editor, Proceedings of 2019 12th International Conference "Management of Large-Scale System Development", MLSD 2019. Institute of Electrical and Electronics Engineers Inc. 2019. 8911070. (Proceedings of 2019 12th International Conference &quot;Management of Large-Scale System Development&quot;, MLSD 2019). https://doi.org/10.1109/MLSD.2019.8911070

Gerget, Olga M. ; Kolpashchikov, Dmitrii Yu. / Collision avoidance for continuum robot using FABRIK algorithm. Proceedings of 2019 12th International Conference "Management of Large-Scale System Development", MLSD 2019. editor / Anatoly Tsvirkun. Institute of Electrical and Electronics Engineers Inc., 2019. (Proceedings of 2019 12th International Conference &quot;Management of Large-Scale System Development&quot;, MLSD 2019).

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