soft-robotics-matlab's Introduction

Dynamic modeling of Soft Robots for MATLAB

THIS CODE IS OUT-DATED! Please check the following link:

https://github.com/BJCaasenbrood/soft-robot-model-MATLAB

Soft robotics is a relatively new field of robotics with promising future applications. Yet, regarding traditional robotics, the field of soft robotics is still stages of inception, especially regarding modeling, control. Here, we (freely) offer code from MATLAB to model and simulate a soft robot manipulator. To use the provided MATLAB code, follow the steps below

run computeDynamics.m to obtain the dynamics model (i.e., M.dqq + C.dq + F + N = tau), which will generate MATLAB code which can be copy-pasted from the command window. In the file, there are several options to change the dynamics; for instance, two-dimension, linear material stiffness, neglecting extensional backbone, etc. We recommend the default settings:

PlanarDynamics      = false;
NeglectRotational   = true;
NeglectExtensible   = false;
ReduxRotational     = true;
LinearDampingFunc   = true;
LinearStiffnessFunc = false;
IncludeBaseVelocity = false;

update the ODE in simulateDynamics.m to the desired dynamic model (line 107 - 130). If you use a 2-dof model, be aware of the model dimension and thus the code requires some changes!
run simulateDynamics.m.
(optional) enable ShowSimulation in simulateDynamics.m, to preview a real-time deformation render.

Paper: http://dx.doi.org/10.1016/j.ifacol.2020.12.2209

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