Kinematic Model of n-section Continuum Robot

The function Kinematic_equation_KR( ) is used to compute the overall homogeneous transformation of the n-section continuum robot

The following function can compute the approximate kinematic model of n-section continuum robot based on the following articles

1. jones, b. A., & walker, i. D. (2006). Kinematics for multi-section continuum robots. Ieee transactions on robotics, 22(1), 43-55.
2. amouri, a., zaatri, a., & mahfoudi, c. (2018). Dynamic modeling of a class of continuum manipulators in a fixed orientation. Journal of intelligent & robotic systems, 91(3), 413-424.
3. seleem, i. A., el-hussieny, h., assal, s. F., & ishii, h. (2020). Development and stability analysis of an imitation learning-based pose planning approach for multi-section continuum robot. Ieee access, 8, 99366-99379.
4. seleem, i. A., assal, s. F., ishii, h., & el-hussieny, h. (2019). Guided pose planning and tracking for multi-section continuum robots considering robot dynamics. Ieee access, 7, 166690-166703.

The exact kinematic model of (1) suffers from singularity if the robotic arm in straight configuration. Taylor expansion series were applied to overcome the singularity.

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