文章基本信息

标题：Inverse Kinematics with a Geometrical Approximation for Multi-Segment Flexible Curvilinear Robots
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作者：Sehun Kim ; Wenjun Xu ; Hongliang Ren 等
期刊名称：Robotics
电子版ISSN：2218-6581
出版年度：2019
卷号：8
期号：2
页码：48-61
DOI：10.3390/robotics8020048
出版社：MDPI Publishing
摘要：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.
关键词：inverse kinematics; geometrical approximation; curvilinear robots inverse kinematics ; geometrical approximation ; curvilinear robots