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

• Hauptverfasser: Atoosa Davarpanah (Verfasst von), Mostafa Khazaee (Verfasst von), Amin Moslemi (Verfasst von), SE Khadem (Verfasst von)
• Format: Buch
• Veröffentlicht: Annals of Robotics and Automation - Peertechz Publications, 2020-07-31.
• Schlagworte: Research Article
• Online-Zugang: 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...