Reduced Cartesian Kinetostatics for Tendon-Driven Continuum Robots: Residual-Stabilized Full-Shape Propagation

This work targets the mechanics and reduced-order modeling of planar, axially compressible tendon-driven continuum robots. The framework propagates full Cartesian backbone equilibrium configurations along prescribed tendon-force and tendon-displacement trajectories, using two global position fields after Taylor–Galerkin reduction. It is intended for planning and control tasks that require complete robot backbone geometry.