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Forward and inverse kinematics analysis of a spatial three-segment continuum robot

Forward and inverse kinematics analysis of a spatial three-segment continuum robot

Chu, Anh My, Duong, Xuan Bien and Le, Chi Hieu ORCID: 0000-0002-5168-2297 (2021) Forward and inverse kinematics analysis of a spatial three-segment continuum robot. In: Kumar, Raghvendra, Quang, Nguyen Ho, Kumar Solanki, Vijender, Cardona, Manuel and Pattnaik, Prasant Kumar, (eds.) Research in Intelligent and Computing in Engineering: Select Proceedings of RICE 2020. Advances in Intelligent Systems and Computing (1254). Springer Singapore. ISBN 978-9811575266 (In Press) (doi:https://doi.org/10.1007/978-981-15-7527-3)

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Abstract

Recently soft robots have been intensively investigated in robotics research. One of the types of the soft robots is continuum robot which has high degree of free-dom or continuous, backbone structures. In this article, a spatial three-segment continuum robot with elastic backbone is considered. The moving of robot is driven by cable wires through the main movement of backbone. The kinematic characteristics of the continuum robot are demonstrated by modeling the kinemat-ics of its flexible backbone. The relationship between the joint variables in joint space and the position variables in workspace is shown by building the kinematic equations. Forward kinematics is the first step towards solving the inverse kine-matics and dynamics problem. Inverse kinematics problem plays important role in designing the control system for robots. These problems are solved based on based on D-H techniques and closed-loop inverse kinematics algorithm (CLIK). The workspace of robot is also calculated. The results of this research can be used to design the control system.

Item Type: Book Section
Uncontrolled Keywords: Continuum robots, kinematics analyzing, workspace, soft robots
Subjects: T Technology > TA Engineering (General). Civil engineering (General)
Faculty / Department / Research Group: Faculty of Engineering & Science
Faculty of Engineering & Science > Design, Manufacturing and Innovative Products Research Theme
Faculty of Engineering & Science > School of Engineering (ENN)
Related URLs:
Last Modified: 25 Nov 2020 22:35
Selected for GREAT 2016: None
Selected for GREAT 2017: None
Selected for GREAT 2018: None
Selected for GREAT 2019: None
Selected for REF2021: None
URI: http://gala.gre.ac.uk/id/eprint/28645

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