2020
Calibration of Concentric Tube Continuum Robots: Automatic Alignment of Precurved Elastic Tubes
RA-L 2020
Joint level calibration is an integral part of robotics as it directly influences the achievable accuracy. As opposed to serial robotic arms, continuum robots are not composed of any rigid links or joints, but of elastic materials that undergo bending and torsion. The jointless composition requires