Joint space redundancy resolution of serial link manipulator: An inverse kinematics and continuum structure numerical approach

Jain, Toshit; Jain, Jinesh Kumar; Roy, Debanik

doi:10.1016/j.matpr.2020.07.608

Cited by 5 publications

(1 citation statement)

References 24 publications

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“…However, it relies heavily on the initial selection of end-effector values, making it susceptible to instability [84]. A diagram of the Newton-Raphson algorithm is provided in Figure 16 [85]. Given the initial joint angle, the pose is calculated based on the forward kinematics.…”

Section: Inverse Kinematicsmentioning

confidence: 99%

Unlocking the Potential of Cable-Driven Continuum Robots: A Comprehensive Review and Future Directions

Bai,

Lee,

Yang

et al. 2024

Actuators

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Rigid robots have found wide-ranging applications in manufacturing automation, owing to their high loading capacity, high speed, and high precision. Nevertheless, these robots typically feature joint-based drive mechanisms, possessing limited degrees of freedom (DOF), bulky structures, and low manipulability in confined spaces. In contrast, continuum robots, drawing inspiration from biological structures, exhibit characteristics such as high compliance, lightweight designs, and high adaptability to various environments. Among them, cable-driven continuum robots (CDCRs) driven by multiple cables offer advantages like higher dynamic response compared to pneumatic systems and increased working space and higher loading capacity compared to shape memory alloy (SMA) drives. However, CDCRs also exhibit some shortcomings, including complex motion, drive redundancy, challenging modeling, and control difficulties. This study presents a comprehensive analysis and summary of CDCR research progress across four key dimensions: configuration design, kinematics and dynamics modeling, motion planning, and motion control. The objective of this study is to identify common challenges, propose solutions, and unlock the full potential of CDCRs for a broader range of applications.

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Section: Inverse Kinematicsmentioning

confidence: 99%