... these issues, this study aims to introduce a jerk-minimized trajectory planning framework for a 4-degree-of-freedom ( DOF ) robotic arm, integrating root multiplicity directly into the inverse kinematics formulation. Design/methodology/approach A hybrid simulation–experimental framework was developed...

...Shufeng Tang; Jingfang Ji; Yun Zhi; Wei Yuan; Hong Chang; Xin Wang; Xiaodong Guo Purpose Continuum robots offer unique advantages in various specialized environments, particularly in confined or hard-to-reach spaces. Inverse kinematics and real-time shape estimation constitute crucial aspects...

.... And the transmission modules and Hooke joints are explored and designed in detail. Then the inverse kinematics based on coupling compensation and time‐jerk synthetic optimization methods for trajectory planning of the simulator are presented and further discussed in order to satisfy the requirements of high stability...