Research Article
Inverse Kinematics of Concentric Tube Robots in the Presence of Environmental Constraints
Table 5
Optimized results for reaching target point.
| | Section number | Optimal bending angle (degree) | Optimal rotation angle (degree) | Reaching point (mm) | Error (mm) |
| | 1 | 98.34 | 53.36 | : 40.86
: 77.27
: 26.97 | : 0.01
: 0.03
: 0 | | 2 | 99.33 | 151.98 | | 3 | 43.78 | 73.15 |
|
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