Inverse Kinematics and Dexterous Workspace Formulation for 2-Segment Continuum Robots With Inextensible Segments

The inverse kinematics (IK) problem of continuum robots has been investigated in depth the past decades. Under constant-curvature bending assumption, closed-form IK solution obtained for with variable segment lengths. Attempting to close gap towards a complete solution, this letter presents an efficient 2-segment one or two inextensible segments (a.k.a, constant lengths). Via representing robot's shape as piecewise line segments, configuration variables are separated formulation such that solving one-variable nonlinear equation leads entire problem. Furthermore, in-depth investigation boundaries dexterous workspace end effector caused by limits well angular velocity singularities was established. This is particularly useful find closest orientation target pose when out workspace. In comparative simulation studies between proposed method and Jacobian-based involving 500,000 cases, separation solved 100% problems much higher computational efficiency.