Research Article
Inverse Kinematics of Concentric Tube Robots in the Presence of Environmental Constraints
Table 4
Optimized results for reaching target point.
| | Section number | Optimal bending angle (degree) | Optimal rotation angle (degree) | Reaching point (mm) | Error (mm) |
| | 1 | 99.80 | 195.42 | : -40.81
: -33.64
: 33.73 | : 0.17
: 0.28
: 0.17 | | 2 | 88.57 | 324.01 |
|
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