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This repository contains our software on kinematics of concentric tube robots. The kinematics include the estimation of torsion, and have been optimised for rapid evaluation. This package solves the forward kinematics (from the tip angles).
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README.md

Concentric Tube Robot - Kinematics Library

This is a concentric tube robot (CTR) kinematics library. The library implements highly efficient code for the forward kinematics of concentric tube robots.

Prerequisites

C++14 support (gcc-6, clang-4).

Installing

Install with cmake. A script to download prerequisites, compile and install is available with install.sh

License

This project is licensed under the GPL v3 License - see the LICENSE file for details.

References

If you choose to use this work, please cite our paper: Leibrandt, Konrad, Christos Bergeles, and Guang-Zhong Yang. "Concentric Tube Robots: Rapid, Stable Path-Planning and Guidance for Surgical Use." IEEE Robotics & Automation Magazine 24.2 (2017): 42-53.

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