A CCD-BASED INVERSE KINEMATICS APPROACH USING FRENET–SERRET PARAMETERIZATION FOR SHR MANIPULATORS

M. Madhu,∗ S. Pravin Kumar,∗ S. Shriram,∗ and R. Vignesh∗

Keywords

Hyper-redundant manipulator, continuum manipulator, inverse kinematics, cyclic coordinate descent (CCD)

Abstract

This article proposes the implementation of a novel approach to obtain inverse kinematics (IK) solutions for a spatial hyper redun- dant (SHR) manipulator which uses a heuristic optimization method called cyclic coordinate descent (CCD). The SHR manipulator struc- ture consists of 16 links and joints. For forward kinematics, Frenet– Serret curve parametrization techniques are employed instead of conventional rotary joints to describe the end-effector position. A curvature (backbone curve) describing the shape of the manipulator arm is formulated. Further, Denavit–Hartenberg (DH) representa- tion is used to formulate the kinematic equations. For IK, instead of taking a pure analytical route, a kinematic model combining CCD (an optimization-based iterative technique) with the formulated DH equation is projected. A detailed description of the formulation of the kinematic model, including the joint constraints of the SHR model, is made for calculating the kinematic variables. The de- veloped proposal is virtually tested using MATLAB and UNITY software (a content creation engine) for two-dimensional case.

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