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Inverse Kinematics of Concentric Tube Robots in the Presence of Environmental Constraints

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 pape...

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Detalles Bibliográficos
Autores principales:	Jabari, Mohammad, Zakeri, Manizhe, Janabi-Sharifi, Farrokh, Norouzi-Ghazbi, Somayeh
Formato:	Online Artículo Texto
Lenguaje:	English
Publicado:	Hindawi 2021
Materias:	Research Article
Acceso en línea:	https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8382537/ https://www.ncbi.nlm.nih.gov/pubmed/34434252 http://dx.doi.org/10.1155/2021/4107732

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