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In this paper the issue of kinematic instability for concentric tube robots is studied when the following two conditions are considered: (a) the robot consists of more than two concentric tubes, and (b) the tubes consist of straight sections followed by curved sections. In this paper, we use the term “kinematic instability” when the tip position of robot in the Cartesian domain jumps from one equilibrium...
Concentric-tube robots can offer a suitable compromise between force and curvature control. In a previous study by the authors, a real-time trajectory tracking scheme for an unloaded concentric-tube robot was developed. One of the practical barriers to the use of a concentric-tube robot in medical applications is compensation for the impact of environmental forces which can cause drastic deterioration...
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