Modelling and Inverse Kinematics of Tendon Driven Continuum Robots using Cascade Correlation
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| Format: | Recurso digital |
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2022
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| _version_ | 1866901736291041280 |
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| author | Ashok Madan Shaswat Garg Satwik Dudeja |
| author_facet | Ashok Madan Shaswat Garg Satwik Dudeja |
| contents | Inverse kinematics is among the most important challenges in robotics, since it is required to map the design space onto the joint space in order to permit smooth motion throughout any task. Inverse Kinematics is difficult to master because of the non-linearities and kinematic redundancy seen in continuum robots. We offer a static model for a tendon-driven continuum robot in this study, which is based on Cosserat string theory and rod theory. For inverse kinematics, we suggest using a neural network based on cascade correlation. Using 20,000 established training data, Cascade Correlation model reaches RMSE of 1.34 and 1.45 in training and testing. Comparative study is done by replicating models from previous literature, validating the accuracy of our proposed model. |
| format | Recurso digital |
| id | zenodo_https___doi_org_10_5281_zenodo_18447841 |
| institution | Zenodo |
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| publishDate | 2022 |
| publisher | Zenodo |
| record_format | zenodo |
| spellingShingle | Modelling and Inverse Kinematics of Tendon Driven Continuum Robots using Cascade Correlation Ashok Madan Shaswat Garg Satwik Dudeja Inverse Kinematics Cascade Correlation Continuum Robots Tendon Driven Robots Inverse kinematics is among the most important challenges in robotics, since it is required to map the design space onto the joint space in order to permit smooth motion throughout any task. Inverse Kinematics is difficult to master because of the non-linearities and kinematic redundancy seen in continuum robots. We offer a static model for a tendon-driven continuum robot in this study, which is based on Cosserat string theory and rod theory. For inverse kinematics, we suggest using a neural network based on cascade correlation. Using 20,000 established training data, Cascade Correlation model reaches RMSE of 1.34 and 1.45 in training and testing. Comparative study is done by replicating models from previous literature, validating the accuracy of our proposed model. |
| title | Modelling and Inverse Kinematics of Tendon Driven Continuum Robots using Cascade Correlation |
| topic | Inverse Kinematics Cascade Correlation Continuum Robots Tendon Driven Robots |
| url | https://doi.org/10.5281/zenodo.18447841 |