TY - GEN
T1 - Inverse kinematics for steerable concentric continuum robots
AU - Kolpashchikov, Dmitrii
AU - Danilov, Viacheslav
AU - Laptev, Nikita
AU - Skirnevskiy, Igor
AU - Manakov, Roman
AU - Gerget, Olga
AU - Meshcheryakov, Roman
PY - 2020/1/1
Y1 - 2020/1/1
N2 - 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.
AB - 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.
KW - Concentric tube
KW - Continuum robot
KW - FABRIK
KW - Inverse kinematics
UR - http://www.scopus.com/inward/record.url?scp=85072882915&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85072882915&partnerID=8YFLogxK
U2 - 10.1007/978-981-13-9267-2_8
DO - 10.1007/978-981-13-9267-2_8
M3 - Conference contribution
AN - SCOPUS:85072882915
SN - 9789811392665
T3 - Smart Innovation, Systems and Technologies
SP - 89
EP - 100
BT - Proceedings of 14th International Conference on Electromechanics and Robotics “Zavalishin’s Readings” - ERZR 2019
A2 - Ronzhin, Andrey
A2 - Shishlakov, Vladislav
PB - Springer Science and Business Media Deutschland GmbH
T2 - 14th International Conference on Electromechanics and Robotics - Zavalishin's Readings, ER(ZR) 2019
Y2 - 17 April 2019 through 20 April 2019
ER -