FABRIKc: an Efficient Iterative Inverse Kinematics Solver for Continuum Robots

Zhang, Weihao; Yang, Zhixiong; Dong, Tianlai; Xu, Kai

doi:10.1109/aim.2018.8452693

Cited by 26 publications

(6 citation statements)

References 28 publications

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“…Thus the problem of five-dimension nonlinear equations is transformed into a single variable iteration problem so that better solution efficiency is obtained. The inverse kinematics method above is similar to, 31 which is based on the FABRIK method. 32 According to, 30 formula 6 can also be written as: which can be calculated as follows.…”

Section: Inverse Kinematicsmentioning

confidence: 99%

A cable‐driven highly compact single port laparoscopic surgical robot with sequentially inserted arms

Yang

Sun

Chen

et al. 2022

Robotics Computer Surgery

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Background The single port surgical robot causes only one incision and brings many benefits to patients. It is very challenging to design a single port surgical robot that causes a smaller incision than current products. Methods This paper presents a highly compact single port laparoscopy surgical robot, which makes full use of the space of the port and only needs a 15 mm‐diameter port. The robot is composed of a camera manipulator and two operating manipulators. The non‐fully cylindrical manipulators enter the port sequentially, and the equivalent diameter of each operating manipulator is 12 mm. An additional 9 mm‐diameter channel is left for other surgical tools to pass through after all manipulators entering the port. Results The kinematics model of the robot is established, including detailed forward kinematics model and inverse kinematics solution based on geometric iteration method. The teleoperation experiment shows that the manipulator can complete the object‐grasping, object‐transfer and weight‐lifting tasks. Conclusions The proposed single port surgical robot design concept can also be extended to the field of natural orifice transluminal endoscopic surgical robots.

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Section: Inverse Kinematicsmentioning

confidence: 99%

A cable‐driven highly compact single port laparoscopic surgical robot with sequentially inserted arms

Yang

Sun

Chen

et al. 2022

Robotics Computer Surgery

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“…Inverse Jacobian based IK approach has higher computation cost and also have singularity problems. Therefore, Forward and Backward Recursive Inverse Kinematics (FABRIK) can be used to find the IK solution [12][13][14].…”

Section: Inverse Kinematicsmentioning

confidence: 99%

Kinematics of Three Segment Continuum Robot for Surgical Application

Bamoriya

Kumar

2021

Lecture Notes in Mechanical Engineering

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We propose a design of a multi-segment continuum robot with inherent compliance and flexibility for minimally invasive surgical applications. The multisegment continuum robot can be guided, with high dexterity, through complex curvilinear paths. Thus, they are ideal for endoscopic and surgical procedures. In this paper, we are discussing the kinematics of a three-segment tendon-driven continuum robot. We derived the forward and inverse kinematics for the proposed continuum robot, show the workspace analysis and quantify the robot reach and dexterity. Further, we discuss the kinematic advantages and disadvantages of tendon-driven three-segment continuum robot versus double-segment continuum robot.

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“…The most common way to solve the inverse kinematics of constant curvature multisection continuum robots is the usage of Jacobian-based methods [12,14]. Other options are geometric [13,18] and analytical (not appliable to multisection robots comprising non-extensible sections) methods [15], learning-based [19] methods, and FABRIK-based (forward-and backward-reaching inverse kinematics) algorithms [20,21].…”

Section: Introductionmentioning

confidence: 99%

“…In this paper, we present FABRIKx-a fast and reliable algorithm for solving the inverse kinematics of variable-curvature multisection continuum robots. We chose FAB-RIK [35] as the base algorithm due to its singularity-free nature demonstrating good results for constant curvature continuum robots [20,36]. We combine both tangent [20] and chord [21] approaches with the piecewise constant curvature assumption.…”

Section: Introductionmentioning

confidence: 99%

“…We chose FAB-RIK [35] as the base algorithm due to its singularity-free nature demonstrating good results for constant curvature continuum robots [20,36]. We combine both tangent [20] and chord [21] approaches with the piecewise constant curvature assumption. To do that, a section of the continuum robot is simplified to one virtual revolution joint and two virtual links with variable lengths.…”

Section: Introductionmentioning

confidence: 99%

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FABRIKx: Tackling the Inverse Kinematics Problem of Continuum Robots with Variable Curvature

Kolpashchikov

Gerget²,

Danilov

2022

Robotics

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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.

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FABRIKc: an Efficient Iterative Inverse Kinematics Solver for Continuum Robots

Cited by 26 publications

References 28 publications

A cable‐driven highly compact single port laparoscopic surgical robot with sequentially inserted arms

A cable‐driven highly compact single port laparoscopic surgical robot with sequentially inserted arms

Kinematics of Three Segment Continuum Robot for Surgical Application

FABRIKx: Tackling the Inverse Kinematics Problem of Continuum Robots with Variable Curvature

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