A CCD-BASED INVERSE KINEMATICS APPROACH USING FRENET-SERRET PARAMETERIZATION FOR SHR MANIPULATORS

This article proposes the implementation of a novel approach to obtain inverse kinematics (IK) solutions for a spatial hyper redundant (SHR) manipulator which uses a heuristic optimization method called cyclic coordinate descent (CCD). The SHR manipulator structure consists of 16 links and joints. For forward kinematics, Frenet-Serret curve parametrization techniques are employed instead of conventional rotary joints to describe the end-effector position. A curvature (backbone curve) describing the shape of the manipulator arm is formulated. Further, Denavit-Hartenberg (DH) representation is used to formulate the kinematic equations. For IK, instead of taking a pure analytical route, a kinematic model combining CCD (an optimization-based iterative technique) with the formulated DH equation is projected. A detailed description of the formulation of the kinematic model, including the joint constraints of the SHR model, is made for calculating the kinematic variables. The developed proposal is virtually tested using MATLAB and UNITY software (a content creation engine) for two-dimensional case.