EndoWrist Kinematics: Cable Stretch & Backlash (2D)

The 3D EndoWrist sim models the ideal forward-kinematics chain of a cable-driven surgical-robot wrist. This 2D companion asks the practical follow-up question: what happens when the cables aren't perfectly stiff or perfectly taut? Two sliders — cable stretch and cable backlash — sit alongside the same pitch/yaw/grip controls and feed a second, "actual" kinematic chain that lags the ideal one. The canvas draws both wrists side by side (ideal in blue, actual in red) while live readouts report the resulting cable tensions in each antagonist pair and the millimetre-scale tip-position error this drivetrain compliance introduces — exactly the kind of error a real surgical-robot controller has to characterise and calibrate out.