On the Disentanglement of Tube Inequalities in Concentric Tube Continuum Robots
Reinhard M. Grassmann,Anastasiia Senyk,Jessica Burgner-Kahrs,Reinhard M. Grassmann,Anastasiia Senyk,Jessica Burgner-Kahrs
Concentric tube continuum robots utilize nested tubes, which are subject to a set of inequalities. Current approaches to account for inequalities rely on branching methods such as if-else statements. It can introduce discontinuities, may result in a complicated decision tree, has a high wall-clock time, and cannot be vectorized. This affects the behavior and result of downstream methods in control...
