The optimization of CTR for transferring in complicated and tight spaces via Genetic Algorithm

Concentric tube continuum robot is a group of continuum robots composed of concentric tubes. The tubes can axially translate and rotate at the base relative to one another. Their inverse kinematic is challenging due to their redundancy. On the other hand, knowledgeabout the inverse kinematics of the concentric-tube continuum robot is essential for control purposes. Thereexist many solutions for reaching to a specific target point because of the redundancy of these kinds of robot. These robots are suitable for moving throughcomplicated spaces and they can round obstacles. These potencies are important aspects of continuum robots. In this paper, we represent a new method to solve the inverse kinematics of these kinds of robots for transferring through tight workspaces. We investigated the most common type of these robots consisting of three tubes. Genetic Algorithm method was employed to optimize the solution of this problem. We use Minimum energy principle equations in this method. We assumed that this robot moves in a free space. So, the environment force on this robot is neglected. Also, we supposed that the curvature of each tube remains constant along the tube. Finally, the obtained results are simulated in MATLAB software. According to the results, the optimized robot can round the obstacles and avoid contacting boundaries. It can also reach the target point with a fantastic accuracy of order 0.01mm. weexamined the method for different workspaces and we reached to great results for each case. One of the advantage of this method is the flexibility aboutworkspace. We can solve the problem for any kinds of workspaces.

کلیدواژه ها:

continuum robot ، concentric tube robot ، inverse kinematics ، genetic algorithm ، optimization ، complicated and tight spaces