Preprint
Sep 2026
Closed-Form Cartesian Forward Kinetostatics for Spatial Multi-Segment Tendon-Driven Continuum Robots
Forward kinetostatics of spatial tendon-driven continuum robots typically requires a nonlinear equilibrium solve for each actuation input. This paper develops a force-to-Cartesian-configuration model with a closed-form solution in quadratures for spatial multi-segment robots under tendon actuation. The Cartesian backbo...
Ke Wu, Fang-Ju Yang, Xiao-Hui Zhang et al.
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