Spatially Hyper-Redundant Robotic Inverse Kinematics by Discrete Link Characterization

In this paper, a novel design of a multi-sectioned, remotely-actuated, continuum type manipulator is presented. Spatially Hyper-Redundant Robot (SHRR) is based on a continuous backbone model which is divided into four sections. In the area of hyper redundant robotics, kinematic redundant systems result in non square Jacobian matrix which requires a pseudo inverse method to inverse the matrix. A methodology has been devised to solve the Inverse Kinematics (IK) problem of SHRR by predicting the curvature values of each of the section. Redundant IK techniques like Pseudo-Inverse Method (PIM), Jacobian Transpose Method (JTM), Damped Least Squares Method (DLS) and Selectively Damped Least Squares Method (SDLS) are tested on the formulated kinematic model of SHRR using MATLAB and a comparative study has been made.