Developing a Static Kinematic Model for Continuum Robots Using Dual Quaternions for Efficient Attitude and Trajectory Planning

摘要

Kinematic modeling is essential for planning and controlling continuum robot motion. The traditional Denavit Hartenberg (DH) model involves complex matrix multiplication operations, resulting in computationally intensive inverse solutions and trajectory planning. Solving position and orientation changes in continuum robots using the double quaternion rule can reduce computational complexity. However, existing dual quaternion methods are direct equational transformations of DH rules and do not give a complete modeling process. They usually require more interpretability when applying continuum robot kinematic modeling. This paper uses the dual quaternion method to establish a kinematic model of a continuum robot. It uses a two-section continuum robot model to compare the advantages of dual quaternion and traditional modeling methods. In addition, this paper proposes a five-polynomial interpolation algorithm based on the dual quaternion method for trajectory planning of continuum robots. This method accurately models spatial bending and torsional motions of singularity-free continuum robots.