@inproceedings{e54df02cc7eb46d1921c2055af2f7d63,
title = "A New Geometric Method for Solving the Inverse Kinematics of Two-Segment Continuum Robot",
abstract = "The inverse kinematics (IK) of continuum robot (CR) is an important factor to guarantee motion accuracy. How to construct a concise IK model is very essential for the real-time control of CR. A new geometric algorithm for solving the IK of CR is proposed in this paper. Based on Piecewise Constant Curvature (PCC) model, the kinematics model of CR is constructed and the envelope surface of the single segment is calculated. The IK of CR is obtained by solving the intersection of surfaces. The spatial problem is transformed into a plane using a set of parallel planes, and the intersection is solved using the k-means clustering algorithm. The algorithm's real-time performance and applicability are improved further by increasing the sampling rate and decreasing the range of included angles. A distinct sequence is designed for solving the IK of CR. The efficiency and effectiveness of geometric are validated in comparison to some of the most popular IK algorithms. Finally, the accuracy of the algorithm is further validated by a physical prototype experiment.",
keywords = "Constant curvature model, Continuum robot, Geometric method, Inverse kinematics",
author = "Haoran Wu and Jingjun Yu and Jie Pan and Guanghao Ge and Xu Pei",
note = "Publisher Copyright: {\textcopyright} 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.; 15th International Conference on Intelligent Robotics and Applications, ICIRA 2022 ; Conference date: 01-08-2022 Through 03-08-2022",
year = "2022",
doi = "10.1007/978-3-031-13822-5\_10",
language = "英语",
isbn = "9783031138218",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "101--112",
editor = "Honghai Liu and Weihong Ren and Zhouping Yin and Lianqing Liu and Li Jiang and Guoying Gu and Xinyu Wu",
booktitle = "Intelligent Robotics and Applications - 15th International Conference, ICIRA 2022, Proceedings",
address = "德国",
}