Analytical Approach to Inverse Kinematics of Single Section Mobile Continuum Manipulators
Audrey Hyacinthe Bouyom Boutchouang,Achille Melingui,J.J.B. Mvogo Ahanda,Xinrui Yang,Othman Lakhal,Frederic Biya Motto,Rochdi Merzouki,Audrey Hyacinthe Bouyom Boutchouang,Achille Melingui,J.J.B. Mvogo Ahanda,Xinrui Yang,Othman Lakhal,Frederic Biya Motto,Rochdi Merzouki
This paper proposes a novel mathematical solution to solve the inverse kinematics (IK) of single section mobile continuum manipulators (SSMCMs). Thus, to achieve a given pose of the end-effector (EE), the proposed mathematical solution consists in determining the position and orientation parameters of the mobile platform and of a single section of the continuum manipulator. As advantages, the prop...
