You signed in with another tab or window. Reload to refresh your session.You signed out in another tab or window. Reload to refresh your session.You switched accounts on another tab or window. Reload to refresh your session.Dismiss alert
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:
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:
(created with this tool)
The text was updated successfully, but these errors were encountered: