Kinematic model to control the end-effector of a continuum robot for multi-axis processing

Salvador Cobos-Guzman, David Palmer, Dragos Axinte

Research output: Journal PublicationArticlepeer-review

27 Citations (Scopus)


This paper presents a novel kinematic approach for controlling the end-effector of a continuum robot for in-situ repair/inspection in restricted and hazardous environments. Forward and inverse kinematic (IK) models have been developed to control the last segment of the continuum robot for performing multi-axis processing tasks using the last six Degrees of Freedom (DoF). The forward kinematics (FK) is proposed using a combination of Euler angle representation and homogeneous matrices. Due to the redundancy of the system, different constraints are proposed to solve the IK for different cases; therefore, the IK model is solved for bending and direction angles between (-π/2 to +π/2) radians. In addition, a novel method to calculate the Jacobian matrix is proposed for this type of hyper-redundant kinematics. The error between the results calculated using the proposed Jacobian algorithm and using the partial derivative equations of the FK map (with respect to linear and angular velocity) is evaluated. The error between the two models is found to be insignificant, thus, the Jacobian is validated as a method of calculating the IK for six DoF.

Original languageEnglish
Pages (from-to)224-240
Number of pages17
Issue number1
Publication statusPublished - 1 Jan 2017


  • Continuous robots
  • Inverse kinematic
  • Jacobian for hyper-redundant systems
  • Kinematics model

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Mathematics (all)
  • Modelling and Simulation
  • Mechanical Engineering
  • Computer Science Applications
  • Control and Optimization


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