Title | ||
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Tmtdyn: A Matlab Package For Modeling And Control Of Hybrid Rigid-Continuum Robots Based On Discretized Lumped Systems And Reduced-Order Models |
Abstract | ||
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A reliable, accurate, and yet simple dynamic model is important to analyzing, designing, and controlling hybrid rigid-continuum robots. Such models should be fast, as simple as possible, and user-friendly to be widely accepted by the ever-growing robotics research community. In this study, we introduce two new modeling methods for continuum manipulators: a general reduced-order model (ROM) and a discretized model with absolute states and Euler-Bernoulli beam segments (EBA). In addition, a new formulation is presented for a recently introduced discretized model based on Euler-Bernoulli beam segments and relative states (EBR). We implement these models in a Matlab software package, named TMTDyn, to develop a modeling tool for hybrid rigid-continuum systems. The package features a new high-level language (HLL) text-based interface, a CAD-file import module, automatic formation of the system equation of motion (EOM) for different modeling and control tasks, implementing Matlab C-mex functionality for improved performance, and modules for static and linear modal analysis of a hybrid system. The underlying theory and software package are validated for modeling experimental results for (i) dynamics of a continuum appendage, and (ii) general deformation of a fabric sleeve worn by a rigid link pendulum. A comparison shows higher simulation accuracy (8-14% normalized error) and numerical robustness of the ROM model for a system with a small number of states, and computational efficiency of the EBA model with near real-time performances that makes it suitable for large systems. The challenges and necessary modules to further automate the design and analysis of hybrid systems with a large number of states are briefly discussed. |
Year | DOI | Venue |
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2021 | 10.1177/0278364919881685 | INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH |
Keywords | DocType | Volume |
TMT Lagrange dynamics, hybrid mechanisms, continuum robots, Cosserat rod, tissue, fabric, software, high-level language | Journal | 40 |
Issue | ISSN | Citations |
1 | 0278-3649 | 2 |
PageRank | References | Authors |
0.37 | 0 | 13 |
Name | Order | Citations | PageRank |
---|---|---|---|
S. M. Hadi Sadati | 1 | 2 | 2.40 |
S. Elnaz Naghibi | 2 | 4 | 0.77 |
Ali Shiva | 3 | 15 | 3.22 |
Brendan Michael | 4 | 2 | 0.71 |
Ludovic Renson | 5 | 2 | 0.37 |
Matthew Howard | 6 | 101 | 13.10 |
D. Caleb Rucker | 7 | 479 | 33.97 |
Kaspar Althoefer | 8 | 847 | 112.87 |
Thrishantha Nanayakkara | 9 | 289 | 35.59 |
Steffen Zschaler | 10 | 450 | 40.06 |
Christos Bergeles | 11 | 97 | 13.28 |
Helmut Hauser | 12 | 113 | 9.00 |
Ian D. Walker | 13 | 1667 | 204.36 |