Simulation of the Inverse Kinematics of a Protein Backbone in Robotics Application

A lot of research had been conducted regarding the structures of protein, one of the fundamental macromolecules in the human bod} system. In order to understand how diverse biological functions work, it is crucial to researchers to study protein structures and their dynamic behavior. This leads to the several successes in the field of computational structural biology -through combining both technology and biology fields together. Moreover. recent studies promote the research on protein backbone and its possible flexible movements for the purpose of exploring the possibilities of protein macromolecule have for advancement of the scientific field. Hence with the inspiration from those studies and through the incorporation of Inverse Kinematics (IK) algorithm, this work will focus on how protein backbone of minimal 3 joints movements will be modeled in the form of robotic appendages with the respective dihedral angles similar to that of an ideal protein's using one existing algorithm. Theoretical movements of the robotic appendages will be simulated as well. These robotic appendages aim to prove their usefulness in various applications such as in medical, manufacturing and other related robotic domains. Application of protein backbone inspired robotic appendages is further accentuated in the form of 3D simulation m this project. Keywords : Inverse Kinematics, Protein backbone, Biologically-inspired robot

On the inverse kinematics of a fragment of protein backbone

Abstract This paper studies the structure of the inverse kinematics (IK) map of a fragment of protein backbone with 6 torsional degrees of freedom. The images (critical sets) of the singularities of the orientation and position maps are computed for a slightly idealized kinematic model. They yield a decomposition of SO(3) and R 3 into open regions where the number of IK solutions is constant. A proof of the existence of at least one 16-solution cell in R 3 × SO(3) is given and one such case is shown