Contribution to inverse kinematic modeling of a planar continuum robot using a particle swarm optimization
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Date
2015
Journal Title
Journal ISSN
Volume Title
Publisher
Springer
Abstract
According to the literature, research on modeling continuum robots is
focused on ways to develop the kinematic models, because of the lack of analytical
models for these robots and the complexity of the problem which reside in the
coupling of operational variables and infinite of possible solutions for a desired
configuration. This paper presents a numerical approach for solving the inverse
kinematic model of a planar continuum robot (PCR), assuming that each section
of the manipulator is curved as a circular arc, with an inextensible central axis of
the structure. At first, this paper presents an inverse kinematic model solution for
one bending section, whereas the extreme points, of each section, used in calculating
the inverse kinematic model for multi-sections is calculated numerically using
a particle swarm optimization (PSO) technique. Finally, Simulation examples of
this method are carried to validate the proposed approach.
Description
Keywords
Planar continuum robot, Modeling, Inverse kinematic model, Optimization, Particle swarm optimization