FBCCD: A Forward and Backward Cyclic Iterative Solver for the Inverse Kinematics of Continuum Robot

Haoran Wu; Jingjun Yu; Jie Pan; Guoxin Li; Xu Pei

doi:10.1007/978-981-19-9398-5_18

FBCCD: A Forward and Backward Cyclic Iterative Solver for the Inverse Kinematics of Continuum Robot

Haoran Wu
, Jingjun Yu
, Jie Pan
, Guoxin Li
, Xu Pei^*

^*Corresponding author for this work

School of Mechanical Engineering and Automation

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

This paper proposes a new numerical approach called Forward and Backward Cyclic Coordinate Descent (FBCCD), which is based on the Cyclic Coordinate Descent (CCD) algorithm. A specific set of solutions can be found from infinite solutions of multi-segment continuum robots using the iterative numerical algorithm. Inspired by the Forward and Backward Reaching Inverse Kinematics (FABRIK) algorithm, the inverse kinematics (IK) of a multi-segment continuum robot is divided into two phases: a forward iteration of end coordinates and a backward iteration of end direction. Forward and backward iterations correct and compensate each other, making the end pose close to the target. By altering the goal function of a single iteration, the FBCCD algorithm can also be applied to the continuum robot with a movable base. The numerical experiment results illustrate that this algorithm is with higher convergence rate and effectiveness compared with some of the most popular IK approaches. The average operating time for a five-segment continuum robot is 361 ms and the average number of iterations is 22.89.

Original language	English
Title of host publication	Advances in Mechanism, Machine Science and Engineering in China - Proceedings of IFToMM CCMMS 2022
Editors	Xinjun Liu
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	329-345
Number of pages	17
ISBN (Print)	9789811993978
DOIs	https://doi.org/10.1007/978-981-19-9398-5_18
State	Published - 2023
Event	23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022 - Yantai, China Duration: 30 Jul 2022 → 1 Aug 2022

Publication series

Name	Lecture Notes in Mechanical Engineering
ISSN (Print)	2195-4356
ISSN (Electronic)	2195-4364

Conference

Conference	23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022
Country/Territory	China
City	Yantai
Period	30/07/22 → 1/08/22

Keywords

Continuum robot
Cyclic Coordinate Descent
Inverse kinematics

Access to Document

10.1007/978-981-19-9398-5_18

Cite this

Wu, H., Yu, J., Pan, J., Li, G., & Pei, X. (2023). FBCCD: A Forward and Backward Cyclic Iterative Solver for the Inverse Kinematics of Continuum Robot. In X. Liu (Ed.), Advances in Mechanism, Machine Science and Engineering in China - Proceedings of IFToMM CCMMS 2022 (pp. 329-345). (Lecture Notes in Mechanical Engineering). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-981-19-9398-5_18

Wu, Haoran ; Yu, Jingjun ; Pan, Jie et al. / FBCCD : A Forward and Backward Cyclic Iterative Solver for the Inverse Kinematics of Continuum Robot. Advances in Mechanism, Machine Science and Engineering in China - Proceedings of IFToMM CCMMS 2022. editor / Xinjun Liu. Springer Science and Business Media Deutschland GmbH, 2023. pp. 329-345 (Lecture Notes in Mechanical Engineering).

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title = "FBCCD: A Forward and Backward Cyclic Iterative Solver for the Inverse Kinematics of Continuum Robot",

abstract = "This paper proposes a new numerical approach called Forward and Backward Cyclic Coordinate Descent (FBCCD), which is based on the Cyclic Coordinate Descent (CCD) algorithm. A specific set of solutions can be found from infinite solutions of multi-segment continuum robots using the iterative numerical algorithm. Inspired by the Forward and Backward Reaching Inverse Kinematics (FABRIK) algorithm, the inverse kinematics (IK) of a multi-segment continuum robot is divided into two phases: a forward iteration of end coordinates and a backward iteration of end direction. Forward and backward iterations correct and compensate each other, making the end pose close to the target. By altering the goal function of a single iteration, the FBCCD algorithm can also be applied to the continuum robot with a movable base. The numerical experiment results illustrate that this algorithm is with higher convergence rate and effectiveness compared with some of the most popular IK approaches. The average operating time for a five-segment continuum robot is 361 ms and the average number of iterations is 22.89.",

keywords = "Continuum robot, Cyclic Coordinate Descent, Inverse kinematics",

author = "Haoran Wu and Jingjun Yu and Jie Pan and Guoxin Li and Xu Pei",

note = "Publisher Copyright: {\textcopyright} 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; 23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022 ; Conference date: 30-07-2022 Through 01-08-2022",

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doi = "10.1007/978-981-19-9398-5\_18",

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publisher = "Springer Science and Business Media Deutschland GmbH",

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Wu, H, Yu, J, Pan, J, Li, G & Pei, X 2023, FBCCD: A Forward and Backward Cyclic Iterative Solver for the Inverse Kinematics of Continuum Robot. in X Liu (ed.), Advances in Mechanism, Machine Science and Engineering in China - Proceedings of IFToMM CCMMS 2022. Lecture Notes in Mechanical Engineering, Springer Science and Business Media Deutschland GmbH, pp. 329-345, 23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022, Yantai, China, 30/07/22. https://doi.org/10.1007/978-981-19-9398-5_18

FBCCD: A Forward and Backward Cyclic Iterative Solver for the Inverse Kinematics of Continuum Robot. / Wu, Haoran; Yu, Jingjun; Pan, Jie et al.
Advances in Mechanism, Machine Science and Engineering in China - Proceedings of IFToMM CCMMS 2022. ed. / Xinjun Liu. Springer Science and Business Media Deutschland GmbH, 2023. p. 329-345 (Lecture Notes in Mechanical Engineering).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - FBCCD

T2 - 23rd IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2022

AU - Wu, Haoran

AU - Yu, Jingjun

AU - Pan, Jie

AU - Li, Guoxin

AU - Pei, Xu

PY - 2023

Y1 - 2023

N2 - This paper proposes a new numerical approach called Forward and Backward Cyclic Coordinate Descent (FBCCD), which is based on the Cyclic Coordinate Descent (CCD) algorithm. A specific set of solutions can be found from infinite solutions of multi-segment continuum robots using the iterative numerical algorithm. Inspired by the Forward and Backward Reaching Inverse Kinematics (FABRIK) algorithm, the inverse kinematics (IK) of a multi-segment continuum robot is divided into two phases: a forward iteration of end coordinates and a backward iteration of end direction. Forward and backward iterations correct and compensate each other, making the end pose close to the target. By altering the goal function of a single iteration, the FBCCD algorithm can also be applied to the continuum robot with a movable base. The numerical experiment results illustrate that this algorithm is with higher convergence rate and effectiveness compared with some of the most popular IK approaches. The average operating time for a five-segment continuum robot is 361 ms and the average number of iterations is 22.89.

AB - This paper proposes a new numerical approach called Forward and Backward Cyclic Coordinate Descent (FBCCD), which is based on the Cyclic Coordinate Descent (CCD) algorithm. A specific set of solutions can be found from infinite solutions of multi-segment continuum robots using the iterative numerical algorithm. Inspired by the Forward and Backward Reaching Inverse Kinematics (FABRIK) algorithm, the inverse kinematics (IK) of a multi-segment continuum robot is divided into two phases: a forward iteration of end coordinates and a backward iteration of end direction. Forward and backward iterations correct and compensate each other, making the end pose close to the target. By altering the goal function of a single iteration, the FBCCD algorithm can also be applied to the continuum robot with a movable base. The numerical experiment results illustrate that this algorithm is with higher convergence rate and effectiveness compared with some of the most popular IK approaches. The average operating time for a five-segment continuum robot is 361 ms and the average number of iterations is 22.89.

KW - Continuum robot

KW - Cyclic Coordinate Descent

KW - Inverse kinematics

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DO - 10.1007/978-981-19-9398-5_18

M3 - 会议稿件

AN - SCOPUS:85163984164

SN - 9789811993978

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A2 - Liu, Xinjun

PB - Springer Science and Business Media Deutschland GmbH

Y2 - 30 July 2022 through 1 August 2022

ER -

Wu H, Yu J, Pan J, Li G, Pei X. FBCCD: A Forward and Backward Cyclic Iterative Solver for the Inverse Kinematics of Continuum Robot. In Liu X, editor, Advances in Mechanism, Machine Science and Engineering in China - Proceedings of IFToMM CCMMS 2022. Springer Science and Business Media Deutschland GmbH. 2023. p. 329-345. (Lecture Notes in Mechanical Engineering). doi: 10.1007/978-981-19-9398-5_18

FBCCD: A Forward and Backward Cyclic Iterative Solver for the Inverse Kinematics of Continuum Robot

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Keywords

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