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Inverse Kinematics for Multisection Continuum Robots with Variable Section Length

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Creativity in Intelligent Technologies and Data Science (CIT&DS 2023)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 1909))

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Abstract

Continuum robots are robots with high flexibly and maneuverability, which allows use them in confined workspaces with many obstacles. Continuum robot’s motion planning and control are depends on inverse kinematics. Existing inverse kinematics solvers have high computational cost and often fail to find a solution. Moreover inverse kinematics solutions for continuum robots with variable section length underrepresented as well as solutions for multisection robots with mixed sections. This paper presents a further development of FABRIK-based inverse kinematics algorithm that allows operating? with multisection continuum robots with variable length. The paper presents analytical solution single section with variable length as well. Our experiments show that proposed algorithm show have higher solution rate and lower solution time in comparison with Jacobian-based inverse kinematics.

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Authors and Affiliations

  1. V.A. Trapeznikov Institute of Control Sciences of Russian Academy of Sciences, Moscow, Russia

    Olga M. Gerget

  2. Tomsk Polytechnic University, Tomsk, 634050, Russia

    Dmitrii Yu. Kolpashchikov

Authors
  1. Olga M. Gerget
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  2. Dmitrii Yu. Kolpashchikov
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Correspondence to Olga M. Gerget .

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Editors and Affiliations

  1. Volgograd State Technical University, Volgograd, Russia

    Alla G. Kravets

  2. Volgograd State Technical University, Volgograd, Russia

    Maxim V. Shcherbakov

  3. University of Patras, Patras, Greece

    Peter P. Groumpos

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Gerget, O.M., Kolpashchikov, D.Y. (2023). Inverse Kinematics for Multisection Continuum Robots with Variable Section Length. In: Kravets, A.G., Shcherbakov, M.V., Groumpos, P.P. (eds) Creativity in Intelligent Technologies and Data Science. CIT&DS 2023. Communications in Computer and Information Science, vol 1909. Springer, Cham. https://doi.org/10.1007/978-3-031-44615-3_9

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  • DOI: https://doi.org/10.1007/978-3-031-44615-3_9

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-44614-6

  • Online ISBN: 978-3-031-44615-3

  • eBook Packages: Computer ScienceComputer Science (R0)

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