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Real-Time Kinematics of Continuum Robots: Modelling and Validation
Robotics and Computer-Integrated Manufacturing, 2021Abstract Kinematics of flexible backbone continuum robots is highly non linear and its complexity quickly escalates with the number of sections of the robot, which is usually more than three. This paper introduces a kinematic modelling of actuation and configuration spaces that greatly simplifies the computational requirements compared to the ...
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