A geometrically exact model for externally loaded concentric-tube continuum robots

IEEE Transactions on Robotics

Volumn 26, Issue 5, 2010, Pages 769-780

  Rucker, D Caleb ^a   Jones, Bryan A ^b   Webster III, Robert J ^a  

^a VANDERBILT UNIVERSITY   (United States)

^b MISSISSIPPI STATE UNIVERSITY   (United States)

Author keywords

Active cannula; concentric tube robot; continuum robot; Cosserat rod theory

Indexed keywords

ACTIVE CANNULA; ANGULAR POSITIONS; CONCENTRIC-TUBE ROBOT; CONTINUUM ROBOT; COSSERAT; DISTRIBUTED LOADS; ELASTIC TUBES; EXTERNAL LOADING; FORWARD KINEMATICS; FREE SPACE; GEOMETRICALLY EXACT; LARGE DEFLECTION; ROD THEORY; TORSIONAL DEFORMATIONS;

DEFORMATION; KINEMATICS; ROBOTS;

TUBES (COMPONENTS);

EID: 77957705257     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2010.2062570     Document Type: Article

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