Soft robotic manipulators offer distinctive advantages over rigid counterparts, providing inherent safety, mechanical compliance, and adaptability that make them ideal for complex environments and safe human-robot interaction (HRI). However, their continuous, viscoelastic nature and theoretically infinite degrees of freedom pose significant challenges for conventional analytical modeling and control techniques. Traditional kinematic and dynamic models are based on simplifying assumptions and often fail to capture the highly nonlinear, time dependent behaviors and hysteresis inherent to soft materials, thus limiting the robot’s ability to perform highly dynamic tasks such as ballistic throwing, which could vastly extend its effective workspace. Ballistic throwing, is crucial for reducing cycle times and extending the effective operational workspace of the robot beyond its physical reach.