models.continuum.pcc¶

Piecewise constant curvature (PCC) kinematics of a continuum robot with n segments.

Functions

`segment_frame`(dx, dy, dl, L0, d, s, eps)	(R, t) of one PCC segment at local arc fraction s ∈ [0, 1].

Classes

`PCC`(L0, d, *[, eps])	Continuum robot of n PCC segments; q = Δ = [Dx, Dy, Dl] per segment, base to tip [m].