# A Spatial Biarc Method for Inverse Kinematics and Configuration Planning of Concentric Cable-Driven Manipulators

> Research article (IEEE Transactions on Systems Man and Cybernetics Systems, 2021) · cited 21× · AI/ML

**Wikidata**: [openalex:W3180322432](https://www.wikidata.org/wiki/openalex:W3180322432)  
**Source**: https://4ort.xyz/entity/a-spatial-biarc-method-for-inverse-kinematics-and-configuration-planning-of-concentric-cable-driven-manipulators