The Optimization of Concentric Tube Continuum Robot based on Target Point via Genetic Algorithm

Concentric tube continuum robot (CTR) is a group of continuum robots which is composed of concentric tubes that can be axially translated and rotated at the base relative to one another. Their inverse kinematic is challenging due to their redundancy. On the other hand, knowledge about the inverse kinematics of the concentric-tube continuum robot is essential for control purposes. There are many solutions for reaching to a specific target point because of the redundancy of these kinds of robots. In this paper, we represent a new method to solve the inverse kinematics of these kinds of robots. We investigated the most common type of these robotsconsisting of three tubes. Genetic Algorithm method is employed to optimize the solution of this problem. Minimum energy principle equations are used in this method. We assume that this robot moves in a free space so the environment force on this robot isneglected. Also, it is supposed that the curvature of each tube remains constant along the tube. The obtained results are simulated in MATLAB software. According to the results, a small error of the order 0.01mm was found using the presented method, which is acceptable for most applications. finally, the parameters of robot is optimized with concentration on accuracy and the overall length of the robot. Length of robot is an important parameter for stability. One of the important advantage of our method is that we can consider this parameter in our optimization in contrast with other methods. So, we can have not only an accurate robot but also a stable one

کلیدواژه ها:

continuum robot ، concentric tube robot (CTR) ، inverse kinematic ، genetic algorithm ، optimization