Path Planning of Continuum Robot Based on Path Fitting

Table 1

Barrier-free space path planning data.

Target point	Bending angle (rad)	Rotation angle (rad)	Rising distance (cm)	End point	Error (cm)	Time (s)
(115, 48, 2)	{0.66, 1.24, 0.97, 1.71}	{0.27, −0.15, 1.80, 0.27}	182.34	(114.61, 48.10, 1.01)	1.08	13.62
(115, 48, 38)	{0.14, 1.45, 0.82, 0.66}	{0.20, −0.13, 1.79, 0.75}	153.80	(115.19, 48.40, 37.88)	0.46	12.31
(115, 48, 98)	{1.27, 0.14, 1.55, 0.85}	{0.01, −1.31, 2.09, −1.89}	185.16	(115.15, 48.10, 98.41)	0.45	17.67

The rising distance represents the rising distance between the base coordinate system of the Continuum Robot and the fuel tank coordinate system.