A numerical framework for the stability and cardinality analysis of concentric tube robots: Introduction and application to the follow-the-leader deployment

•Concentric tube robots (CTR) are interesting for surgical applications.•Evaluation of stability and number of equilibria for given actuation inputs remains difficult.•A generic numerical framework for cardinality and stability assessment is proposed.•Continuation method, dynamic relaxation and bifu...

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Bibliographic Details

Published in:	Mechanism and machine theory Vol. 132; pp. 176 - 192
Main Authors:	Peyron, Q., Rabenorosoa, K., Andreff, N., Renaud, P.
Format:	Journal Article
Language:	English
Published:	Elsevier Ltd 01.02.2019 Elsevier
Subjects:	Automatic Bifurcation analysis Computer Science Concentric tube robot Continuation method Data Structures and Algorithms Engineering Sciences Follow-the-leader deployment Stability evaluation Follow-the-leader deployment Continuation method Stability evaluation Concentric tube robot Bifurcation analysis
ISSN:	0094-114X, 1873-3999
Online Access:	Get full text
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