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Modeling Tube Clearance and Bounding the Effect of Friction in Concentric Tube Robot Kinematics
The shape of a concentric tube robot depends not only on the relative rotations and translations of its constituent tubes, but also on the history of relative tube displacements. Existing mechanics-based models neglect all history-dependent phenomena with the result that when calibrated on experimen...
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| Publicado no: | IEEE Trans Robot |
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| Main Authors: | , , |
| Formato: | Artigo |
| Idioma: | Inglês |
| Publicado em: |
2018
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| Assuntos: | |
| Acesso em linha: | https://ncbi.nlm.nih.gov/pmc/articles/PMC6453576/ https://ncbi.nlm.nih.gov/pubmed/30976208 https://ncbi.nlm.nih.govhttp://dx.doi.org/10.1109/TRO.2018.2878906 |
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