A New Approach to Jacobian Formulation for a Class of Multi-Section Continuum Robots

We introduce a new method for synthesizing kinematics and Jacobian relationships for an important class of continuous backbone “continuum” robots. The resulting Jacobians enable task and shape control by relating work space (Cartesian) coordinates to actuator inputs (tendon lengths, pneumatic pressures, etc.), via robot shape coordinates. The approach, which is applicable to a wide class of existing continuum robots, also features the capability of including extension, as well as bending, of individual sections. The approach is also shown to produce correct results for orientation, in contrast to previously published approaches. Results of a real-time implementation of the method on a multisection continuum manipulator are reported.