FABRIKx: tackling the inverse kinematics problem of continuum robots with variable curvature
A continuum robot is a unique type of robots which move because of the elastic deformation of their bodies. The kinematics of such robots is typically described using constant curvature assumption. Such an assumption, however, does not completely describe the kinematics of a real-life continuum robo...
| Authors: | ; ; |
|---|---|
| Format: | Article |
| Status: | Published version |
| Publication date: | 2022 |
| Country: | España |
| Institution: | Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya) |
| Repository: | Recercat. Dipósit de la Recerca de Catalunya |
| OAI Identifier: | oai:recercat.cat:10230/71745 |
| Online Access: | http://hdl.handle.net/10230/71745 http://dx.doi.org/10.3390/robotics11060128 |
| Access Level: | Open access |
| Keyword: | Continuum robots Inverse kinematics Forward kinematics FABRIK |
| _version_ | 1878730691469901824 |
|---|---|
| author | Kolpashchikov, Dmitrii Yu |
| author2 | Gerget, Olga M. Danilov, Viacheslav V. |
| author2_role | author author |
| author_browse | Danilov, Viacheslav V. Gerget, Olga M. Kolpashchikov, Dmitrii Yu |
| author_facet | Kolpashchikov, Dmitrii Yu Gerget, Olga M. Danilov, Viacheslav V. |
| author_role | author |
| collection | Recercat. Dipósit de la Recerca de Catalunya |
| description | A continuum robot is a unique type of robots which move because of the elastic deformation of their bodies. The kinematics of such robots is typically described using constant curvature assumption. Such an assumption, however, does not completely describe the kinematics of a real-life continuum robot. As a result, variable curvature assumptions describe the kinematics of the continuum robot better, however, they are more complicated to formulate and work with. In particular, the existing methods of solving the inverse kinematics problem of multisection continuum robots with variable curvature suffer from a variety of deficiencies. Those deficiencies include complex matrix calculations, singularity problems, unscalability, and inability to find a numeric solution in some cases. In this work, we present FABRIKx: fast and reliable algorithm to solve the problem of inverse kinematics of the multisection continuum robot with variable curvature. In particular, to describe the variable curvature, we utilize a piecewise constant curvature assumption. The proposed algorithm combines both tangent and chord approaches to solve the inverse kinematics problem. The inverse kinematics of a single bending section of piecewise constant curvature is also described. To evaluate FABRIKx effectiveness, we compare it with the Jacobian-based and FABRIKc-based algorithms via simulation studies for different robots. The obtained results show that FABRIKx demonstrates a higher success rate and a lower solution time. |
| eu_rights_str_mv | openAccess |
| format | article |
| id | ES_217074e905fe8ac144f0fc5ecb42e366 |
| institution | Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya) |
| instname_str | Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya) |
| network_acronym_str | ES |
| network_name_str | España |
| oai_identifier_str | oai:recercat.cat:10230/71745 |
| publishDate | 2022 |
| publishDateSort | 2022 |
| publisher | MDPI |
| publisherStr | MDPI |
| reponame_str | Recercat. Dipósit de la Recerca de Catalunya |
| spelling | FABRIKx: tackling the inverse kinematics problem of continuum robots with variable curvature Kolpashchikov, Dmitrii Yu Gerget, Olga M. Danilov, Viacheslav V. Continuum robots Inverse kinematics Forward kinematics FABRIK A continuum robot is a unique type of robots which move because of the elastic deformation of their bodies. The kinematics of such robots is typically described using constant curvature assumption. Such an assumption, however, does not completely describe the kinematics of a real-life continuum robot. As a result, variable curvature assumptions describe the kinematics of the continuum robot better, however, they are more complicated to formulate and work with. In particular, the existing methods of solving the inverse kinematics problem of multisection continuum robots with variable curvature suffer from a variety of deficiencies. Those deficiencies include complex matrix calculations, singularity problems, unscalability, and inability to find a numeric solution in some cases. In this work, we present FABRIKx: fast and reliable algorithm to solve the problem of inverse kinematics of the multisection continuum robot with variable curvature. In particular, to describe the variable curvature, we utilize a piecewise constant curvature assumption. The proposed algorithm combines both tangent and chord approaches to solve the inverse kinematics problem. The inverse kinematics of a single bending section of piecewise constant curvature is also described. To evaluate FABRIKx effectiveness, we compare it with the Jacobian-based and FABRIKc-based algorithms via simulation studies for different robots. The obtained results show that FABRIKx demonstrates a higher success rate and a lower solution time. MDPI http://hdl.handle.net/10230/71745 http://dx.doi.org/10.3390/robotics11060128 |
| spellingShingle | FABRIKx: tackling the inverse kinematics problem of continuum robots with variable curvature Kolpashchikov, Dmitrii Yu Continuum robots Inverse kinematics Forward kinematics FABRIK |
| status_str | publishedVersion |
| title | FABRIKx: tackling the inverse kinematics problem of continuum robots with variable curvature |
| title_full | FABRIKx: tackling the inverse kinematics problem of continuum robots with variable curvature |
| title_fullStr | FABRIKx: tackling the inverse kinematics problem of continuum robots with variable curvature |
| title_full_unstemmed | FABRIKx: tackling the inverse kinematics problem of continuum robots with variable curvature |
| title_short | FABRIKx: tackling the inverse kinematics problem of continuum robots with variable curvature |
| title_sort | FABRIKx: tackling the inverse kinematics problem of continuum robots with variable curvature |
| topic | Continuum robots Inverse kinematics Forward kinematics FABRIK |
| topic_facet | Continuum robots Inverse kinematics Forward kinematics FABRIK |
| url | http://hdl.handle.net/10230/71745 http://dx.doi.org/10.3390/robotics11060128 |