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Quasi-static Modeling of a Cable-Driven Continuum Manipulator Considering Non-Smooth Cable-Hole Friction and Experimental Verification

Shucui Zhang, Jiayuan Zhao,Xingang Zhang,Haohao Bi,Wenli Yao,Fanxiu Chen,Haijun Peng,Caishan Liu

Mechanism and Machine Theory（2024）

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Key words
Cable-driven continuum manipulator (CDCM),quasi-static model,hysteresis,non-smooth,trajectory tracking
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