Inverse Kinematics and Dexterous Workspace Formulation for 2-Segment Continuum Robots with Inextensible Segments

Yifan Wang, Zhonghao Wu, Longfei Wang +2

The inverse kinematics (IK) problem of continuum robots has been investigated in depth in the past decades. Under the constant-curvature bending assumption, closed-form IK solution…