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. Author manuscript; available in PMC: 2015 Oct 1.
Published in final edited form as: IEEE ASME Trans Mechatron. 2014 Dec 24;20(5):2252–2263. doi: 10.1109/TMECH.2014.2372635

Fig. 3.

Fig. 3

Frame convention of robot. The proximal end of the tendon-driven continuum robot is mechanically grounded on the task space coordinate. The +z-axis is defined to be tangent to the base of the robot. Each of the proximal and distal sections of the robot has thirty joint coordinates.