Evaluation of dynamic relaxation to the kinematics of concentric tube robots.

International audienceConcentrictuberobotsarebasedonthedeformationofelastic pre-curved tubes mounted in a telescopic manner. Their kinematic model consists in a boundary value problem which must be solved during analysis and design. When arbitrary properties and number of the tubesareconsidered,thismodelmustbesolvednumerically.Weconsider inthispapertheuseofdynamicrelaxationtoperformthisresolution.Its performances in terms of accuracy and computation time are assessed in a case study involving a two-tube CTR. Robustness of the method tuning to variations of CTR behaviour as encountered during a deployment is finally assessed