Dynamical Model of Soft Robot Manipulator 3DOF
The code simulate a free-response of a 3-DOF soft robot manipulator in SIMULINK. After the simulation, the code with plot the state trajectories and generates a video file showing the real-deformation behavior of the backbone of the robot. The dynamical model can be written in the following form:
D(q)ddq + C(q,dq)dq + N(q) + F(dq) = tau.
The control input tau is set to zero, yet the SIMULINK model leaves room for closed-loop control. The novelty of the model is the addition of non-linear stiffness effects that are typically present in hyper-elastic materials undergoing large deformations.
**reference to paper is coming
Cite As
Brandon Caasenbrood (2023).Dynamical Model of Soft Robot Manipulator 3DOF(//www.tatmou.com/matlabcentral/fileexchange/68818-dynamical-model-of-soft-robot-manipulator-3dof), MATLAB Central File Exchange. Retrieved.
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- Robotics and Autonomous Systems>ROS Toolbox>
- Engineering>Electrical and Computer Engineering>Robotics>
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