2023
Modelling of Tendon-Driven Continuum Robot Based on Constraint Analysis and Pseudo-Rigid Body Model
RA-L 2023
Quasi-static models of tendon-driven continuum robots (TDCR) require consideration of both the kinematic and static conditions simultaneously. While the Pseudo-Rigid Body (PRB-3R) model has been demonstrated to be efficient, existing works ignore the mechanical effect of the tendons such as elongati