Forward and Inverse Kinematic of Continuum Robot for Search and Rescue

Guang Zhu Meng; Guang Ming Yuan; Zhe Liu; Jun Zhang

doi:10.4028/www.scientific.net/AMR.712-715.2290

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 712-715Forward and Inverse Kinematic of Continuum Robot...

Forward and Inverse Kinematic of Continuum Robot for Search and Rescue

Abstract:

Continuum robot is a new type robot which has many applications,such as medical surgery, mine collapse, urban search and rescue etc. In this paper, the forward and inverse kinematics analysis of continuum robot for search and rescue is presented. The forword kinematic has been formulated by product of exponentials. The inverse kinematics for the robot is carried out by a geometrical approach. Finally, the forward and inverse kinematic simulation is completed by Matlab. The simulation results are given for the robot to illustrate the method effectiveness.

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Periodical:

Advanced Materials Research (Volumes 712-715)

Pages:

2290-2295

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.712-715.2290

Citation:

Cite this paper

Online since:

June 2013

Authors:

Guang Zhu Meng*, Guang Ming Yuan, Zhe Liu, Jun Zhang

Keywords:

Continuum Robot, Forward Kinematics, Inverse Kinematics, Product of Exponentials, Rescue, Search

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* - Corresponding Author

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