A Simplified Method for Inverse Kinematics of a Flexible Panel Continuum Robot for Real-Time Shape Morphing

Continuum robots are good candidates for shape morphing. However, due to the coupled problem between kinematics and statics, inverse of continuum is highly nonlinear, posing a challenging real-time applications. This paper presents simplified approach solving flexible panel robot efficiently. Through an experiment, two approximate relationships discovered. First, arc length middle backbone can be estimated from lengths panels; second, difference panels related tip angle end-effector. Based on these discovered relationships, method proposed based constant curvature model. has been validated by experimental data with high accuracy less than 2% error, thereby demonstrating effectiveness