Inverse Kinematics with a Geometrical Approximation for Multi-Segment Flexible Curvilinear Robots
Despite research related to flexible or continuum curvilinear robots, there lacks a common simulation tool for continuum robots, which are unlike rigid robots. Thus, in this paper, a robotics toolbox is utilized to model a wire-driven flexible manipulator as one of the continuum robots. Constant cur...
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Online Access: | https://www.mdpi.com/2218-6581/8/2/48 |
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doaj-eef1227885864b98b5f47515412ee60d2020-11-25T01:34:40ZengMDPI AGRobotics2218-65812019-06-01824810.3390/robotics8020048robotics8020048Inverse Kinematics with a Geometrical Approximation for Multi-Segment Flexible Curvilinear RobotsSehun Kim0Wenjun Xu1Hongliang Ren2Department of Biomedical Engineering, National University of Singapore, Singapore 119077, SingaporeDepartment of Biomedical Engineering, National University of Singapore, Singapore 119077, SingaporeDepartment of Biomedical Engineering, National University of Singapore, Singapore 119077, SingaporeDespite research related to flexible or continuum curvilinear robots, there lacks a common simulation tool for continuum robots, which are unlike rigid robots. Thus, in this paper, a robotics toolbox is utilized to model a wire-driven flexible manipulator as one of the continuum robots. Constant curvature property can enable the robotics toolbox to represent the flexible manipulator and validate its kinematics. Moreover, because the closed-form inverse kinematics methods developed previously for real-time control conceded limitations in modeling some continuum robots, we hereby develop an inverse kinematics method for the wire-driven flexible manipulator which can provide fast and reliable inverse results. Experimental results showed that geometrical information offered a stable starting point for the proposed inverse kinematics algorithm. Moreover, the first and second derivatives of a fitness function further contributed to a fast-converging solution within a few microseconds. Lastly, for the potential feasibility of an active compliance controller without physical force/torque sensors, a reaction torque observer was investigated for a flexible manipulator with direct drive mechanisms.https://www.mdpi.com/2218-6581/8/2/48inverse kinematicsgeometrical approximationcurvilinear robots |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Sehun Kim Wenjun Xu Hongliang Ren |
spellingShingle |
Sehun Kim Wenjun Xu Hongliang Ren Inverse Kinematics with a Geometrical Approximation for Multi-Segment Flexible Curvilinear Robots Robotics inverse kinematics geometrical approximation curvilinear robots |
author_facet |
Sehun Kim Wenjun Xu Hongliang Ren |
author_sort |
Sehun Kim |
title |
Inverse Kinematics with a Geometrical Approximation for Multi-Segment Flexible Curvilinear Robots |
title_short |
Inverse Kinematics with a Geometrical Approximation for Multi-Segment Flexible Curvilinear Robots |
title_full |
Inverse Kinematics with a Geometrical Approximation for Multi-Segment Flexible Curvilinear Robots |
title_fullStr |
Inverse Kinematics with a Geometrical Approximation for Multi-Segment Flexible Curvilinear Robots |
title_full_unstemmed |
Inverse Kinematics with a Geometrical Approximation for Multi-Segment Flexible Curvilinear Robots |
title_sort |
inverse kinematics with a geometrical approximation for multi-segment flexible curvilinear robots |
publisher |
MDPI AG |
series |
Robotics |
issn |
2218-6581 |
publishDate |
2019-06-01 |
description |
Despite research related to flexible or continuum curvilinear robots, there lacks a common simulation tool for continuum robots, which are unlike rigid robots. Thus, in this paper, a robotics toolbox is utilized to model a wire-driven flexible manipulator as one of the continuum robots. Constant curvature property can enable the robotics toolbox to represent the flexible manipulator and validate its kinematics. Moreover, because the closed-form inverse kinematics methods developed previously for real-time control conceded limitations in modeling some continuum robots, we hereby develop an inverse kinematics method for the wire-driven flexible manipulator which can provide fast and reliable inverse results. Experimental results showed that geometrical information offered a stable starting point for the proposed inverse kinematics algorithm. Moreover, the first and second derivatives of a fitness function further contributed to a fast-converging solution within a few microseconds. Lastly, for the potential feasibility of an active compliance controller without physical force/torque sensors, a reaction torque observer was investigated for a flexible manipulator with direct drive mechanisms. |
topic |
inverse kinematics geometrical approximation curvilinear robots |
url |
https://www.mdpi.com/2218-6581/8/2/48 |
work_keys_str_mv |
AT sehunkim inversekinematicswithageometricalapproximationformultisegmentflexiblecurvilinearrobots AT wenjunxu inversekinematicswithageometricalapproximationformultisegmentflexiblecurvilinearrobots AT hongliangren inversekinematicswithageometricalapproximationformultisegmentflexiblecurvilinearrobots |
_version_ |
1725070371487481856 |