An Efficient Inverse Kinematics Algorithm for Continuum Robot with a Translational Base

摘要

In this paper, we propose an efficient inverse kinematics algorithm for a continuum robot with a translation base. A design example of the continuum robot including the continuum manipulator and its driving mechanism. The continuum robot has two bending degrees of freedom (DOFs), and one translational DOFs provided by a translation base. Based on the constant curvature assumption and the geometric analysis method, the forward kinematic model of the continuum robot is established. By analyzing the features of the generatrix of the robot's workplace, the generatrix is replaced section by section using the egg curve. The egg curve is determined according to the design parameters of the continuum robot initially, and then updated iteratively based on the end position of the robot. Simulation results show the inverse kinematics algorithm has a quick convergence speed and an excellent computational efficiency. Experiment results validate the effectiveness of the inverse kinematics algorithm.