A Novel Head-Following Algorithm for Multi-Joint Articulated Driven Continuum Robots

Abstract

Head-following (tracking) issue is a challenge in developing multijoint continuum robots. However, various approaches have been developed in head-following algorithm for articulated-driven mechanism (ADM) continuum robots, and problems still exist such as low end accuracy, large trajectory deviation, and low computational efficiency. This article presents a novel head-following (NHF) algorithm with high precision, small trajectory deviation, and high computational efficiency for multijoint ADM continuum robots. The proposed algorithm first uses the follow-the-leader (FTL) method to search for planning points. Second, the end-effector errors are calculated, split, and adjusted. Third, the error judgment set is assigned based on the error rate of the end-effector, and also the joints that need to be adjusted are determined. Finally, the joint angles are iteratively adjusted. In this article, the NHF algorithm is simulated on ADM continuum robots with separately 10, 20, and 31 joints. The result shows that, comparing with other FTL algorithms, NHF algorithm has the highest end accuracy, and the smallest trajectory deviation.