General Forward Kinematics for Tendon-Driven Continuum Robots

Unlike the inverse kinematics problem of n-tendon continuum robots, forward lacks a closed-form analytical solution. In this paper, novel algorithm for single-segment flexible robots is developed that can determine resulting beam configuration any given set actuator displacements. The determines key parameters all possible n- to 1-tendon combinations and examines them against evaluation criteria find final as well active/slack status tendons at configuration. employs previously loading model with general tendon positioning evaluate tension loads in each combination. Potential energy also calculated utilized choose among multiple potential solutions. derived account bending axial compliance manipulator compliance. A multi-tendon robot system employed experimentally proposed Multiple experiments are carried out exhaustive list different sets displacements results reported. may be used understand implication control errors their nonlinear effects optimal selection hardware safety reliability purposes.