FABRIKx: Tackling the Inverse Kinematics Problem of Continuum Robots with Variable Curvature

A continuum robot is a unique type of robots which move because the elastic deformation their bodies. The kinematics such typically described using constant curvature assumption. Such an assumption, however, does not completely describe real-life robot. As result, variable assumptions better, they are more complicated to formulate and work with. In particular, existing methods solving inverse problem multisection with suffer from variety deficiencies. Those deficiencies include complex matrix calculations, singularity problems, unscalability, inability find numeric solution in some cases. this work, we present FABRIKx: fast reliable algorithm solve curvature. curvature, utilize piecewise proposed combines both tangent chord approaches problem. single bending section also described. To evaluate FABRIKx effectiveness, compare it Jacobian-based FABRIKc-based algorithms via simulation studies for different robots. obtained results show that demonstrates higher success rate lower time.