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ibrahimseleem / Kinematic-Model-of-n-section-Continuum-Robot

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Open leevinci opened 2 years ago

leevinci commented 2 years ago

Hello, I encountered trouble in the process of pushing the inverse kinematics solution of a continuous manipulator model. I can't write the code very well. Can you give me some help

ibrahimseleem commented 2 years ago

Due to the computation complexity of inverse kinematics, it is preferred to use pseudo inverse kinematic control. Please, check the following paper "https://ieeexplore.ieee.org/abstract/document/8525601"

leevinci commented 2 years ago

Wow, great work, can you provide the code for the inverse solution of inverse kinematics

ibrahimseleem commented 2 years ago

The simple code to calculate the configuration value as a function of the caresian position (Inverse kinematic) is inverse control

q_dot=Pseudo_Jacobian(P_dot+KP)

where P is the 3D carteisna position of the end-effector, P_dot is derivative, K is the gain.

integrating q_dot generete the configuration variable. Please, check the following research article. https://ieeexplore.ieee.org/abstract/document/8525601