ORIGINAL RESEARCH article
Front. Robot. AI
Sec. Biomedical Robotics
Volume 12 - 2025 | doi: 10.3389/frobt.2025.1627688
This article is part of the Research TopicRobotics in the Performance, Safety and Learning of Surgery - What Next?View all 3 articles
A Projection-Based Inverse Kinematic Model for Extensible Continuum Robots and Hyper-Redundant Robots with an Elbow Joint
Provisionally accepted
Sven Fritsch
Dirk Oberschmidt*- Technical University of Berlin, Berlin, Germany
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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. In this paper a novel inverse kinematic model (IKM) for extensible (i.e., length-adjustable) continuum robots (CRs) and hyper-redundant robots (HRRs) featuring an elbow joint is introduced. This IKM numerically solves a set of equations representing geometrical constraints (abbr. NSGC). NSGC can handle target poses Xt = [xt, yt, zt, ψt] in 3D space which are projected onto a 2D plane and solved numerically. NSGC is real-time capable and accounts for elbow joint limits. Extensive simulations and empirical tests confirm the reliability, performance and practical applicability of NSGC.
Keywords: continuum robots, Hyper-redundant robots, inverse kinematics, optimization algorithm, robot control
Received: 13 May 2025; Accepted: 21 Jul 2025.
Copyright: © 2025 Fritsch and Oberschmidt. This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) or licensor are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
* Correspondence: Dirk Oberschmidt, Technical University of Berlin, Berlin, Germany
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