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. Author manuscript; available in PMC: 2014 Oct 1.
Published in final edited form as: IEEE ASME Trans Mechatron. 2013 Oct:1612–1624. doi: 10.1109/TMECH.2012.2209671

Fig. 4.

Fig. 4

Nomenclature of a single dexterous arm of the IREP: (a) definition of points, (b) definition of the tip frame and the wrist rotation angle q7, and (c) definition of local frames for the ith segment of the continuum robot.