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Inverse Kinematics Analysis of a P2CuP2Cu Concentric Tube Robot with Embedded Micro-actuation for 3T-1R Contactless Tasks

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Advances in Robot Kinematics 2016

Part of the book series: Springer Proceedings in Advanced Robotics ((SPAR,volume 4))

Abstract

This paper introduces a novel kinematic structure based on the concentric tube robot (CTR) paradigm, augmented with embedded soft micro-actuation. The latter allows to replace troublesome R-joints in CTR with 3 tubes by active tube curvatures (Cu-joints). First, the forward kinematic model is derived. Furthermore, the inverse kinematic problem is partially solved by restricting it to 3-translations/1-rotation movements. Finally, the inverse model is used to perform path planning schemes in medical scenarios.

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Acknowledgements

This work has been supported by the Labex ACTION project (contract ANR-11-LABX-0001-01) and by NEMRO project (contract ANR-14-CE17-0013).

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Authors and Affiliations

  1. Laboratory for Continuum Robotics, Leibniz Universitaet Hannover, Appelstrasse 11, 30167, Hannover, Germany

    Mohamed Taha Chikhaoui

  2. AS2M Department, FEMTO-ST Institute, UBFC/UFC/CNRS/ENSMM/UTBM, 24 Rue A. Savary, Besançon, France

    Kanty Rabenorosoa & Nicolas Andreff

Authors
  1. Mohamed Taha Chikhaoui
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  2. Kanty Rabenorosoa
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  3. Nicolas Andreff
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Corresponding author

Correspondence to Mohamed Taha Chikhaoui .

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Editors and Affiliations

  1. Jožef Stefan Institute , Ljubljana-Vic-Rudnik, Slovenia

    Jadran Lenarčič

  2. INRIA Sophia Antipolis , Sophia Antipolis Cedex, France

    Jean-Pierre Merlet

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Chikhaoui, M.T., Rabenorosoa, K., Andreff, N. (2018). Inverse Kinematics Analysis of a P2CuP2Cu Concentric Tube Robot with Embedded Micro-actuation for 3T-1R Contactless Tasks. In: Lenarčič, J., Merlet, JP. (eds) Advances in Robot Kinematics 2016. Springer Proceedings in Advanced Robotics, vol 4. Springer, Cham. https://doi.org/10.1007/978-3-319-56802-7_6

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  • DOI: https://doi.org/10.1007/978-3-319-56802-7_6

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-56801-0

  • Online ISBN: 978-3-319-56802-7

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