Inverse kinematics for steerable concentric continuum robots

Dmitrii Kolpashchikov, Viacheslav Danilov, Nikita Laptev, Igor Skirnevskiy, Roman Manakov, Olga Gerget, Roman Meshcheryakov

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

Abstract

Steerable concentric continuum robots are robots with a flexible structure that are able to bend at any point. Such robots consist of tubes inserted inside each other. The shape and length of the robot can be varied by controlling relative translations, rotations and bending angles of the tubes. This feature allows them to operate in confined working areas such as human heart, lungs, nuclear reactors and so on. However, existing solutions to the inverse kinematics for these robots have the following problems: high computational cost, singularity problems, complex matrix calculations, inability to control a robot tip orientation or requirement to go through the configuration parameters. This paper presents a modification of the Forward And Backward Reaching Inverse Kinematics (FABRIK) algorithm for multi-section continuum robots. Particularly, we applied the proposed modification of the FABRIK algorithm to the steerable concentric continuum robots.

Original languageEnglish
Title of host publicationProceedings of 14th International Conference on Electromechanics and Robotics “Zavalishin’s Readings” - ERZR 2019
EditorsAndrey Ronzhin, Vladislav Shishlakov
PublisherSpringer Science and Business Media Deutschland GmbH
Pages89-100
Number of pages12
ISBN (Print)9789811392665
DOIs
Publication statusPublished - 1 Jan 2020
Event14th International Conference on Electromechanics and Robotics - Zavalishin's Readings, ER(ZR) 2019 - Kursk, Russian Federation
Duration: 17 Apr 201920 Apr 2019

Publication series

NameSmart Innovation, Systems and Technologies
Volume154
ISSN (Print)2190-3018
ISSN (Electronic)2190-3026

Conference

Conference14th International Conference on Electromechanics and Robotics - Zavalishin's Readings, ER(ZR) 2019
CountryRussian Federation
CityKursk
Period17.4.1920.4.19

Keywords

  • Concentric tube
  • Continuum robot
  • FABRIK
  • Inverse kinematics

ASJC Scopus subject areas

  • Decision Sciences(all)
  • Computer Science(all)

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  • Cite this

    Kolpashchikov, D., Danilov, V., Laptev, N., Skirnevskiy, I., Manakov, R., Gerget, O., & Meshcheryakov, R. (2020). Inverse kinematics for steerable concentric continuum robots. In A. Ronzhin, & V. Shishlakov (Eds.), Proceedings of 14th International Conference on Electromechanics and Robotics “Zavalishin’s Readings” - ERZR 2019 (pp. 89-100). (Smart Innovation, Systems and Technologies; Vol. 154). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-13-9267-2_8