Jacobian-Based Inverse Kinematics Analysis of a Pneumatic Actuated Continuum Manipulator

Joint-Space Kinematic Control of a Bionic Continuum Manipulator in Real-Time by Using Hybrid Approach

“…where T (i, j) represents i-th row and j-th column of T. Note that the orientations are not independent variables in constant curvature model. In fact, orientations about x and y-axes are, respectively, found as θ x 1 = atan2 −T w 1h (2, 3) , T w 1h (3, 3) and θ y 1 = atan2 T w 1h (1, 3) , T w 1h (3,3) , where atan2 (y, x) = tan −1 (y/x) for x > 0, tan −1 (y/x) + π for x < 0, y ≥ 0, tan −1 (y/x) − πfor x < 0, y < 0, (πsign (y)) /2 for x = 0, and undefined for x = 0, y = 0. Orientation about the z-axis is computed from cos…”

“…The Prime The Motive 2.0 software automatically extracts the 2D positions and executes 3D reconstruction. A single point (x, y, z) in 3D object reference plane is mapped to mapped to u (1) , v (1) , u (2) , v (2) , u (3) , v (3) and u (4) , v (4) points in the 2D image reference frame by four cameras. For the i-th camera, the DLT parameters are denoted a…”

“…Nowadays, there is a growing research interest in bionic continuum manipulators (BCMs) which are inspired by different living organisms and try to emulate their structures and motions, such as snake [1], octopus arm [2], and elephant trunk [3] (See Fig. 1) robots.…”

“…High precision model-based inverse kinematics (IK) for BCMs remains a challenge. While the differential Jacobian method [3], [29] is most often used, resolving the redundancy for highly under-actuated continuum manipulators poses several challenges. The modal approach [30] and the elastic beam theory approach [31] are regarded as the most accurate methods to map task space parameters (TSPs) to joint space parameters (JSPs) by considering linear combinations of the shape functions.…”

Performance Analysis of 4-DOF RPRR Robot Manipulator Actuation Strategy for Pick and Place Application in Healthcare Environment

“…In the context of our specified configuration and systems design, we utilize an iterative method to derive the joint space from the known Cartesian space position of end-effector. There are various approaches to implementing numerical methods for computing inverse kinematics solutions, such as of using Cyclic Coordinate Descent (CCD) [21] and Inverse Jacobian [22]. While CCD is more suitable for lower Degree of Freedom serial link manipulators, it does not guarantee solving problem of singularity and redundancy.…”