A geometric approach for inverse kinematics of a 4-link redundant In-Vivo robot for biopsy

作者：Sardana L; Sutar M K; Pathak P M^*

来源：Robotics and Autonomous Systems, 2013, 61(12): 1306-1313.

DOI：10.1016/j.robot.2013.09.001

• Inverse kinematics
• Redundant manipulators
• In-Vivo robot
• Geometrical method

The presence of a large number of degrees of freedom enables redundant manipulators to have some desirable features like reaching difficult areas and avoiding obstacles. These manipulators in the form of In-Vivo robots will enhance the dexterity and capacity of a surgeon to explore the internal cavity when inserted in the existing tool channel of the endoscope to take a biopsy from the stomach. This paper presents a simple geometric approach, to solve the problem of multiple inverse kinematic solutions of redundant manipulators, to find a single optimum solution and to easily switch from one solution to another depending upon the path and the environment. A simulation model of this approach has been developed and experiments have been conducted on the In-Vivo robot to judge its effectiveness.

• 出版日期2013-12