This paper derives singularity conditions for concentric tube robots (CTRs). To the scope, we build the CTR geometrico-static model using discretization techniques, which are suitable for several currently-used CTRs models. Then, we obtain singularity conditions by performing a linearization of the geometrico-static model. We define Type-1 and Type-2 singularities, which are related to the unsolvability of the inverse and forward kinematostatic problems, respectively. Moreover, we also show the link between Type-2 singularities and CTR equilibrium stability. A case study with a two-tube CTR is proposed to illustrate our results.
Zaccaria F., Ida E., Briot S. (2023). Singularity Conditions of Concentric Tube Robots. Springer Science and Business Media B.V. [10.1007/978-3-031-45705-0_37].
Singularity Conditions of Concentric Tube Robots
Zaccaria F.Investigation
;Ida E.Supervision
;
2023
Abstract
This paper derives singularity conditions for concentric tube robots (CTRs). To the scope, we build the CTR geometrico-static model using discretization techniques, which are suitable for several currently-used CTRs models. Then, we obtain singularity conditions by performing a linearization of the geometrico-static model. We define Type-1 and Type-2 singularities, which are related to the unsolvability of the inverse and forward kinematostatic problems, respectively. Moreover, we also show the link between Type-2 singularities and CTR equilibrium stability. A case study with a two-tube CTR is proposed to illustrate our results.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
