Abstract
Abstract Fast inverse kinematics (IK) algorithm is significant for real-time precise motion control of continuum and soft manipulator. In this paper, we studied an explicit expression of two-segment continuum manipulator based on the constant curvature assumptions and discussed the existence of the IK solutions. This model used pseudo-rigid-body method, unlike 6-axis rigid industrial robot arm, we found that the two-segment extensible continuum manipulators have limited rotation angle around the direction vector of its tip, i.e., this type manipulator has limited dexterity. Then we pre-constrained five degrees of freedom (DOFs) constrained and discussed the definition of the left DOF. The IK solving process is simplified to realize small calculation cost for most applications. This model will provide a robust and real-time way to control the two-segment extensible continuum manipulators.
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