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Soft robots are interesting examples of hyper-redundancy in robotics,however, the nonlinear continuous dynamics of these robots and the use ofhyper-elastic and visco-elastic materials makes modeling of these robots morecomplicated. This study presents a geometric Inverse Kinematic (IK) model fortrajectory tracking of multi-segment extensible soft robots, where, eachsegment of the soft actuator is geometrically approximated with multiple rigidlinks connected with rotary and prismatic joints. Using optimization methods,the desired configuration variables of the soft actuator for the desiredend-effector positions are obtained. Also, the redundancy of the robot isapplied for second task applications, such as tip angle control. The model'sperformance is investigated through simulations, numerical benchmarks, andexperimental validations and results show lower computational costs and higheraccuracy compared to most existing methods. The method is easy to apply tomulti segment soft robots, both in 2D and 3D. As a case study, a fully3D-printed soft robot manipulator is tested using a control unit and the modelpredictions show good agreement with the experimental results.

A geometric approach towards inverse kinematics of soft extensible pneumatic actuators intended for trajectory tracking