Segmented Inverse Kinematics and Trajectory Planning of Quasi-continuous Manipulator

In this paper, a method of segmented inverse kinematics is proposed for the complex inverse kinematics of the quasi-continuous manipulator and the trajectory planning of the middle joint and the end effector. According to various obstacles, eight links can be divided into different types of segments and inverse kinematics is performed on each segment, so as to ensure that any position of the manipulator does not touch the obstacle during the process of moving the target. Based on the above method, two examples corresponding to two obstacles are introduced. Through simulation, it is found that the change law of 17 degrees of freedom that meets the structural constraints of the quasi-continuous manipulator can be obtained by utilizing the method of segmented inverse kinematics, which proves the effectiveness and practicability of the method.