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...

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Autores: Kolpashchikov, Dmitrii Yu, Gerget, Olga M., Danilov, Viacheslav V.
Tipo de recurso: artículo
Estado:Versión publicada
Fecha de publicación:2022
País:España
Institución:Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)
Repositorio:Recercat. Dipósit de la Recerca de Catalunya
OAI Identifier:oai:recercat.cat:10230/71745
Acceso en línea:http://hdl.handle.net/10230/71745
http://dx.doi.org/10.3390/robotics11060128
Access Level:acceso abierto
Palabra clave:Continuum robots
Inverse kinematics
Forward kinematics
FABRIK
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spelling FABRIKx: tackling the inverse kinematics problem of continuum robots with variable curvatureKolpashchikov, Dmitrii YuGerget, Olga M.Danilov, Viacheslav V.Continuum robotsInverse kinematicsForward kinematicsFABRIKA 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.MDPI202520252022info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionapplication/pdfapplication/pdfhttp://hdl.handle.net/10230/71745http://dx.doi.org/10.3390/robotics11060128http://hdl.handle.net/10230/71745reponame:Recercat. Dipósit de la Recerca de Catalunyainstname:Varias* (Consorci de Biblioteques Universitáries de Catalunya, Centre de Serveis Científics i Acadèmics de Catalunya)InglésRobotics. 2022 Nov 15;11(6):128© 2022 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).http://creativecommons.org/licenses/by/4.0/info:eu-repo/semantics/openAccessoai:recercat.cat:10230/717452026-05-29T05:05:01Z
dc.title.none.fl_str_mv FABRIKx: tackling the inverse kinematics problem of continuum robots with variable curvature
title FABRIKx: tackling the inverse kinematics problem of continuum robots with variable curvature
spellingShingle FABRIKx: tackling the inverse kinematics problem of continuum robots with variable curvature
Kolpashchikov, Dmitrii Yu
Continuum robots
Inverse kinematics
Forward kinematics
FABRIK
title_short 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_sort FABRIKx: tackling the inverse kinematics problem of continuum robots with variable curvature
dc.creator.none.fl_str_mv Kolpashchikov, Dmitrii Yu
Gerget, Olga M.
Danilov, Viacheslav V.
author Kolpashchikov, Dmitrii Yu
author_facet Kolpashchikov, Dmitrii Yu
Gerget, Olga M.
Danilov, Viacheslav V.
author_role author
author2 Gerget, Olga M.
Danilov, Viacheslav V.
author2_role author
author
dc.subject.none.fl_str_mv Continuum robots
Inverse kinematics
Forward kinematics
FABRIK
topic Continuum robots
Inverse kinematics
Forward kinematics
FABRIK
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.
publishDate 2022
dc.date.none.fl_str_mv 2022
2025
2025
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/10230/71745
http://dx.doi.org/10.3390/robotics11060128
http://hdl.handle.net/10230/71745
url http://hdl.handle.net/10230/71745
http://dx.doi.org/10.3390/robotics11060128
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv Robotics. 2022 Nov 15;11(6):128
dc.rights.none.fl_str_mv http://creativecommons.org/licenses/by/4.0/
info:eu-repo/semantics/openAccess
rights_invalid_str_mv http://creativecommons.org/licenses/by/4.0/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv MDPI
publisher.none.fl_str_mv MDPI
dc.source.none.fl_str_mv reponame:Recercat. Dipósit de la Recerca de Catalunya
instname: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)
reponame_str Recercat. Dipósit de la Recerca de Catalunya
collection Recercat. Dipósit de la Recerca de Catalunya
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