Characterizing the Workspace of Concentric Tube Continuum Robots
41st International Symposium on Robotics, pp. 730–736, ISBN -- 978-3-8007-3601-0., 2014
Abstract
Concentric tube robots exhibit complexworkspaces due to the way their component tubes bendand twist as they interact with one another. This paperexplores ways to compute and characterize their workspaces.We use Monte Carlo random samples of the robot’s joint spaceand a discrete volumetric workspace representation, which candescribe both reachability and redundancy. Experiments ontwo physical prototypes are provided to illustrate the proposedapproach.