A geometric solution for inverse kinematics of redundant teleoperated surgical snake robots

摘要

Pure analytical and numerical approaches are found undesirable for solving inverse kinematics of redundant robots. This is due to huge iterative procedures required to determine efficient joint configuration(s) for given target. In this paper, a new geometric method is presented for solving the inverse kinematics of snake robots ideal for real-time teleoperated surgery of internal organs. The method was applied to a 10-link redundant robotic model, capable of spatial navigation. Simulation result from the via-paths of circular track and human signature shows that the proposed method is fast and accurate in determining joint angles necessary to reach given target points with worst case mean error of x=0.608±0.231mm.