Inverse kinematics for steerable concentric continuum robots

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

Результат исследований: Материалы для книги/типы отчетовМатериалы для конференции

Аннотация

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.

Язык оригиналаАнглийский
Название основной публикацииProceedings of 14th International Conference on Electromechanics and Robotics “Zavalishin’s Readings” - ERZR 2019
РедакторыAndrey Ronzhin, Vladislav Shishlakov
ИздательSpringer Science and Business Media Deutschland GmbH
Страницы89-100
Число страниц12
ISBN (печатное издание)9789811392665
DOI
СостояниеОпубликовано - 1 янв 2020
Событие14th International Conference on Electromechanics and Robotics - Zavalishin's Readings, ER(ZR) 2019 - Kursk, Российская Федерация
Продолжительность: 17 апр 201920 апр 2019

Серия публикаций

НазваниеSmart Innovation, Systems and Technologies
Том154
ISSN (печатное издание)2190-3018
ISSN (электронное издание)2190-3026

Конференция

Конференция14th International Conference on Electromechanics and Robotics - Zavalishin's Readings, ER(ZR) 2019
СтранаРоссийская Федерация
ГородKursk
Период17.4.1920.4.19

ASJC Scopus subject areas

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

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