An iterative algorithm for inverse displacement analysis of Hyper-redundant elephant’s trunk robot

Abstract

AbstractThis paper proposes an iterative algorithm to solve the inverse displacement for a hyper-redundant elephant’s trunk robot (HRETR). In this algorithm, each parallel module is regarded as a geometric line segment and point model. According to the forward approximation and inverse pose adjustment principles, the iteration process can be divided into forward and backward iteration. This iterative algorithm transforms the inverse displacement problem of the HRETR into the parallel module’s inverse displacement problem. Considering the mechanical joint constraints, multiple iterations are carried out to ensure that the robot satisfies the required position error. Simulation results show that the algorithm is effective in solving the inverse displacement problem of HRETR.