Optimization of concentric tube continuum robot based on accuracy and overall length of the robot via genetic algorithm

• Главные авторы: Atoosa Davarpanah (Автор), Mostafa Khazaee (Автор), Amin Moslemi (Автор), SE Khadem (Автор)
• Формат: ‌
• Опубликовано: Annals of Robotics and Automation - Peertechz Publications, 2020-07-31.
• Предметы: Research Article
• Online-ссылка: Connect to this object online.

<p>Concentric Tube Continuum Robot (CTR) is a group of continuum robots which is composed of concentric tubes that can be axially translated and rotated at the base relative to one another. Their inverse kinematic is challenging due to their redundancy. On the other hand, knowledge about the i...