{"title":"A projection-based inverse kinematic model for extensible continuum robots and hyper-redundant robots with an elbow joint.","authors":"Sven Fritsch, Dirk Oberschmidt","doi":"10.3389/frobt.2025.1627688","DOIUrl":null,"url":null,"abstract":"<p><p>Inverse kinematics is a core problem in robotics, involving the use of kinematic equations to calculate the joint configurations required to achieve a target pose. This study introduces a novel inverse kinematic model (IKM) for extensible (i.e., length-adjustable) continuum robots (CRs) and hyper-redundant robots (HRRs) featuring an elbow joint. This IKM numerically solves a set of equations representing geometric constraints (abbreviated as NSGC). NSGC can handle target poses <math> <mrow> <msub><mrow><mi>X</mi></mrow> <mrow><mi>t</mi></mrow> </msub> <mo>=</mo> <mrow><mo>[</mo> <mrow> <msub><mrow><mi>x</mi></mrow> <mrow><mi>t</mi></mrow> </msub> <mo>,</mo> <msub><mrow><mi>y</mi></mrow> <mrow><mi>t</mi></mrow> </msub> <mo>,</mo> <msub><mrow><mi>z</mi></mrow> <mrow><mi>t</mi></mrow> </msub> <mo>,</mo> <msub><mrow><mi>ψ</mi></mrow> <mrow><mi>t</mi></mrow> </msub> </mrow> <mo>]</mo></mrow> </mrow> </math> in 3D space, which are projected onto a 2D plane and solved numerically. NSGC is capable of real-time operation and accounts for elbow joint limits. Extensive simulations and empirical tests confirm the reliability, performance, and practical applicability of NSGC.</p>","PeriodicalId":47597,"journal":{"name":"Frontiers in Robotics and AI","volume":"12 ","pages":"1627688"},"PeriodicalIF":3.0000,"publicationDate":"2025-09-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC12464886/pdf/","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Frontiers in Robotics and AI","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.3389/frobt.2025.1627688","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"2025/1/1 0:00:00","PubModel":"eCollection","JCR":"Q2","JCRName":"ROBOTICS","Score":null,"Total":0}
引用次数: 0
Abstract
Inverse kinematics is a core problem in robotics, involving the use of kinematic equations to calculate the joint configurations required to achieve a target pose. This study introduces a novel inverse kinematic model (IKM) for extensible (i.e., length-adjustable) continuum robots (CRs) and hyper-redundant robots (HRRs) featuring an elbow joint. This IKM numerically solves a set of equations representing geometric constraints (abbreviated as NSGC). NSGC can handle target poses in 3D space, which are projected onto a 2D plane and solved numerically. NSGC is capable of real-time operation and accounts for elbow joint limits. Extensive simulations and empirical tests confirm the reliability, performance, and practical applicability of NSGC.
逆运动学是机器人技术中的一个核心问题,涉及到使用运动学方程来计算实现目标姿态所需的关节构型。本研究为具有肘关节的可扩展(即长度可调节)连续体机器人(cr)和超冗余机器人(HRRs)引入了一种新的逆运动学模型(IKM)。该IKM以数值方式求解一组表示几何约束(简称NSGC)的方程。NSGC可以处理三维空间中的目标姿态X t = [X t, y t, z t, ψ t],并将其投影到二维平面上进行数值求解。NSGC能够实时操作,并考虑肘关节极限。大量的仿真和经验试验证实了NSGC的可靠性、性能和实用性。
期刊介绍:
Frontiers in Robotics and AI publishes rigorously peer-reviewed research covering all theory and applications of robotics, technology, and artificial intelligence, from biomedical to space robotics.