A New Approach to Solve Inverse Kinematics of a Planar Flexible Continuum Robot

Auteurs :  AMOURI Ammar, MAHFOUDI Chawki, ZAATRI Abdelouahab, MERABTI Halim
Année : 2014
Domaine : Génie mécanique
Type : Communication
Conférence: International Conference of Computational Methods in Science and Engineering, ICCMSE
Résumé en PDF :  (résumé en pdf)
Fulltext en PDF :  (.pdf)
Mots clés : Flexible Continuum Robot, Planar Robot, Inverse kinematics, Particle Swarm Optimization

Résumé : 

Research on the modeling of continuum robots, focused on ways to constrain the geometric models, while maintaining maximum specificities and mechanical properties of the robot. In this paper we propose a new numerical solution for solving the inverse geometric model of a planar flexible continuum robot, we assuming that each section is curved in an arc of a circle, while having the central axis of the inextensible structure. The inverse geometric model for one section is calculated geometrically, whereas the extreme points, of each section, used in calculating the inverse geometric model for multi-section is calculated numerically using a particle swarm optimization (PSO) method. Simulation examples of this method are carried to validate the proposed approach.