ConcentricTubeRobot

Concentric Tube Continuum Robot distal-end tip position controller cascaded with BVP controller.

Model based on A geometrically exact model for externally loaded concentric-tube continuum robots

Documentation

1. controller.py

   Main code for CTR system. Calls CTR model and trajectory generator.

   Also contains classes for Jacobian Linearisation and Controller.

2. CTR_model.py

   Model for a three-tubed concentric tube continuum robot class.

3. CurvatureController.py

   End curvature BVP controller.

4. TrajectoryGenerator.py

   Generates a quintic\quadratic\cubic polynomial, or linear trajectory.

Requirements

• Python 3.7.x (2.7 is not supported)

• pathos

  For multiprocessing

• numpy

• matplotlib

• scipy

How to use

1. Clone the repo.

git clone https://github.com/izzatnadzmi/ConcentricTubeRobot.git

cd ConcentricTubeRobot/

2. Install required, and missing libraries.

3. Execute python script.

License

MIT