Research Article

Path Planning of Continuum Robot Based on Path Fitting

Table 2

Traversal search and path fitting path planning data.

SignTarget pointBending angle (rad)Rotation angle (rad)Rising distance (cm)End pointError (cm)Time (s)

A(10, 10, 30){0.58}{0.79}32.77(10, 10, 30)02.68
B(10, 10, 30){0.57}{0.76}32.63(10.04, 9.45, 30)0.550.003
A(40, 10, 30){0.08, 1.91}{0.32, 0.24}59.49(37.46, 9.39, 31.34)2.945.42
B(40, 10, 30){0.50, 3.02}{0.00, 0.25}95.72(41.32, 8.25, 30.00)2.190.61
A(88, 10, 30){0.13, 1.76, 0.77}{0.17, 0.05, 2.91}104.04(88.11, 10.03, 30.05)0.138.79
B(88, 10, 30){0.19, 2.26, 0.57}{0.00, 0.06, 2.89}148.55(83.29, 9.42, 30.00)4.751218.54