Abstract:
Concentric tube robots exhibit complex workspaces due to the way their component tubes bend and twist as they interact with one another. This paper explores ways to compu...Show MoreMetadata
Abstract:
Concentric tube robots exhibit complex workspaces due to the way their component tubes bend and twist as they interact with one another. This paper explores ways to compute and characterize their workspaces. We use Monte Carlo random samples of the robot's joint space and a discrete volumetric workspace representation, which can describe both reachability and redundancy. Experiments on two physical prototypes are provided to illustrate the proposed approach.
Date of Conference: 14-18 September 2014
Date Added to IEEE Xplore: 06 November 2014
ISBN Information: