An inverse kinematics algorithm of two-sides following method is proposed to resolve the problems on hyper-redundant snake arm robot such as many degrees of freedom

complex inverse solution

large amount of computation and large motion offset. The position updating method of the snake arm is adjusted to two-side following method in this algorithm. By optimizing the intersection point of the new axis and the original axis

using the relationship between point and line to calculate the update position

and transforming the inverse kinematics into the iterative calculation of single link

the motion offset of the snake arm is reduced and the solving efficiency is improved. Numerical experiments show that the two-sided following algorithm can reduce the motion offset effectively and ensure solving efficiency

comparing with the improved tip following movement and FABRIK algorithm.