{"ID":2831984,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2512.06754","arxiv_id":"2512.06754","title":"Model-Less Feedback Control of Space-based Continuum Manipulators using Backbone Tension Optimization","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. Motivated by these limitations, this work presents a complete model-less control framework that bypasses kinematic modeling by using an empirically initialized Jacobian refined online through differential convex updates. Tip motion is generated via a real-time quadratic program that computes actuator increments while enforcing tendon slack avoidance and geometric limits. A backbone tension optimization term is introduced in this paper to regulate axial loading and suppress co-activation compression. The framework is validated across circular, pentagonal, and square trajectories, demonstrating smooth convergence, stable tension evolution, and sub-millimeter steady-state accuracy without any model calibration or parameter identification. These results establish the proposed controller as a scalable alternative to model-dependent continuum manipulation in a constrained environment.","short_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 ki...","url_abs":"https://arxiv.org/abs/2512.06754","url_pdf":"https://arxiv.org/pdf/2512.06754v1","authors":"[\"Shrreya Rajneesh\",\"Nikita Pavle\",\"Rakesh Kumar Sahoo\",\"Manoranjan Sinha\"]","published":"2025-12-07T09:34:28Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"eess.SY\"]","methods":"[]","has_code":false}