Evaluation of dynamic relaxation to the kinematics of concentric tube robots. - Archive ouverte HAL
Communication Dans Un Congrès Année : 2018

Evaluation of dynamic relaxation to the kinematics of concentric tube robots.

Résumé

Concentrictuberobotsarebasedonthedeformationofelastic pre-curved tubes mounted in a telescopic manner. Their kinematic model consists in a boundary value problem which must be solved during analysis and design. When arbitrary properties and number of the tubesareconsidered,thismodelmustbesolvednumerically.Weconsider inthispapertheuseofdynamicrelaxationtoperformthisresolution.Its performances in terms of accuracy and computation time are assessed in a case study involving a two-tube CTR. Robustness of the method tuning to variations of CTR behaviour as encountered during a deployment is finally assessed.
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Dates et versions

hal-02399248 , version 1 (09-12-2019)

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Quentin Peyron, Kanty Rabenorosoa, Nicolas Andreff, Pierre Renaud. Evaluation of dynamic relaxation to the kinematics of concentric tube robots.. International symposium on Advances in Robot Kinematics, Jul 2018, Bologne, Italy. ⟨10.1007/978-3-319-93188-3_12⟩. ⟨hal-02399248⟩
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