IEEE - Institute of Electrical and Electronics Engineers, Inc. - Calibration of Concentric Tube Continuum Robots: Automatic Alignment of Precurved Elastic Tubes

Author(s): Vincent Modes ; Jessica Burgner-Kahrs
Sponsor(s): RAS
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 2020
Volume: 5
Page(s): 103 - 110
ISSN (CD): 2377-3774
ISSN (Electronic): 2377-3766
DOI: 10.1109/LRA.2019.2946060
Regular:

Joint level calibration is an integral part of robotics as it directly influences the achievable accuracy. As opposed to serial robotic arms, continuum robots are not composed of any rigid links... View More

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