Inverse Kinematics of Concentric Tube Robots in the Presence of Environmental Constraints
Mohammad Jabari,
Manizhe Zakeri,
Farrokh Janabi-Sharifi
et al.
Abstract:<p>Inverse kinematics (IK) of concentric tube continuum robots (CTRs) is associated with two main problems. First, the robot model (e.g., the relationship between the configuration space parameters and the robot end-effector) is not linear. Second, multiple solutions for the IK are available. This paper presents a general approach to solve the IK of CTRs in the presence of constrained environments. It is assumed that the distal tube of the CTR is inserted into a cavity while its proximal end is placed in… Show more
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