Collision avoidance for continuum robot using FABRIK algorithm

Olga M. Gerget, Dmitrii Yu Kolpashchikov

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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 languageEnglish
Title of host publicationProceedings of 2019 12th International Conference "Management of Large-Scale System Development", MLSD 2019
EditorsAnatoly Tsvirkun
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781728117300
DOIs
Publication statusPublished - Oct 2019
Event12th International Conference "Management of Large-Scale System Development", MLSD 2019 - Moscow, Russian Federation
Duration: 1 Oct 20193 Oct 2019

Publication series

NameProceedings of 2019 12th International Conference "Management of Large-Scale System Development", MLSD 2019

Conference

Conference12th International Conference "Management of Large-Scale System Development", MLSD 2019
CountryRussian Federation
CityMoscow
Period1.10.193.10.19

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

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