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A projection-based inverse kinematic model for extensible continuum robots and hyper-redundant robots with an elbow
Sven Fritsch1, Dirk Oberschmidt1
1Department of Mechanical Engineering and Transport Systems, Technical University, Berlin, Germany.
Frontiers in Robotics and AI
|September 29, 2025
Summary
This study presents a new inverse kinematic model (IKM) for extensible continuum robots (CRs) and hyper-redundant robots (HRRs). The novel numerical model (NSGC) accurately calculates joint configurations for real-time robotic control.
Area of Science:
- Robotics
- Mechanical Engineering
- Control Systems
Background:
- Inverse kinematics is crucial for robot control, determining joint configurations for desired end-effector poses.
- Existing models face challenges with extensible robots and specific joint constraints.
Purpose of the Study:
- Introduce a novel inverse kinematic model (IKM) for extensible continuum robots (CRs) and hyper-redundant robots (HRRs) with an elbow joint.
- Develop a numerically stable and efficient method for real-time robotic pose calculation.
Main Methods:
- A novel inverse kinematic model (IKM) based on numerically solving a set of geometric constraints (NSGC).
- Projection of 3D target poses onto a 2D plane for numerical solution.
- Incorporation of elbow joint limits within the NSGC framework.
Main Results:
- The NSGC model demonstrates real-time operational capabilities.
- The model accurately handles target poses in 3D space.
- Simulations and empirical tests validate the model's reliability and performance.
Conclusions:
- The developed NSGC inverse kinematic model is reliable and practical for extensible CRs and HRRs.
- The model offers a viable solution for real-time control of robots with complex geometries.
- NSGC effectively addresses the challenges of inverse kinematics in length-adjustable robotic systems.
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