2023
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 +1
ICRA 2023poster
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…