Model-Less Feedback Control of Space-based Continuum Manipulators using Backbone Tension Optimization
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来源：arXiv cs.RO发布时间待核实
arXiv:2512.06754v2 Announce Type: replace Abstract: Continuum manipulators offer intrinsic dexterity and safe geometric compliance for navigation within confined and obstacle-rich environments. However, their infinite-dimensional backbone deformation, unmodeled internal friction, and configuration-dependent stiffness fundamentally limit the reliability of model-based kinematic formulations, resulting in inaccurate Jacobian predictions, artificial singularities, and unstable actuation behavior.