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Add forward kinematics solver #2

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PeterBowman opened this issue Dec 16, 2019 · 0 comments
Open

Add forward kinematics solver #2

PeterBowman opened this issue Dec 16, 2019 · 0 comments

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@PeterBowman
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IK aside (ref), we currently lack an FK solver. @mhlucho has provided me with very valuable resources that led him to the obtention of the geometric IK formulae:

  • Gao, B., Song, H., Zhao, J., Guo, S., Sun, L., & Tang, Y. (2014). Inverse kinematics and workspace analysis of a cable-driven parallel robot with a spring spine. Mechanism and Machine Theory, 76, 56-69.

  • Webster III, R. J., & Jones, B. A. (2010). Design and kinematic modeling of constant curvature continuum robots: A review. The International Journal of Robotics Research, 29(13), 1661-1683.

More interestingly, he developed his own FK solutions that seem to coincide with the latter work, p. 1671: 20191216_165832. Besides, he reports that a numeric solution (via MATLAB fsolve) also provides reasonable results that can be later encoded in a LUT and loaded in memory from C++ code:

CodeCogsEqn(3)

(created with this tool)

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