Details
| Original language | English |
|---|---|
| Title of host publication | 2023 IEEE International Conference on Soft Robotics (RoboSoft) |
| ISBN (electronic) | 979-8-3503-3222-3 |
| Publication status | Published - 2023 |
Publication series
| Name | IEEE International Conference on Soft Robotics |
|---|---|
| ISSN (Print) | 2769-4526 |
| ISSN (electronic) | 2769-4534 |
Abstract
Controller design for continuum robots maintains to be a difficult task. Testing controllers requires dedicated work in manufacturing and investment into hardware as well as software, to acquire a test bench capable of performing dynamic control tasks. Typically, proprietary software for practical controller design such as Matlab/simulink is used but lacks specific implementations of soft material robots. This intermediate work presents the results of a toolchain to derive well-identified rod simulations. State-of-the-art methods to simulate the dynamics of continuum robots are integrated into an object-oriented implementation and wrapped into the Simulink framework. The generated S-function is capable of handling arbitrary, user-defined input such as pressure actuation or external tip forces as demonstrated in numerical examples. With application to a soft pneumatic actuator, stiffness parameters of a nonlinear hyperelastic material law are identified via finite element simulation and paired with heuristically identified damping parameters to perform dynamic simulation. To prove the general functionality of the simulation, a numerical example as well as a benchmark from literature is implemented and shown. A soft pneumatic actuator is used to generate validation data, which is in good accordance with the respective simulation output. The tool is provided as an open-source project∗∗∗∗Code available under https://gitlab.com/soft_material_robotics/cosserat-rod-simulink-sfunction.
Keywords
- Cosserat rod model, simulation, continuum robots, Open source code
ASJC Scopus subject areas
- Computer Science(all)
- Artificial Intelligence
- Engineering(all)
- Mechanical Engineering
- Mathematics(all)
- Control and Optimization
- Engineering(all)
- Control and Systems Engineering
- Computer Science(all)
- Computer Vision and Pattern Recognition
Cite this
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2023 IEEE International Conference on Soft Robotics (RoboSoft). 2023. (IEEE International Conference on Soft Robotics).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Towards a Modular Framework for Visco-Hyperelastic Simulations of Soft Material Manipulators with Well-Parameterised Material
AU - Bartholdt, Max
AU - Berthold, Rebecca
AU - Schappler, Moritz
N1 - Publisher Copyright: © 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Controller design for continuum robots maintains to be a difficult task. Testing controllers requires dedicated work in manufacturing and investment into hardware as well as software, to acquire a test bench capable of performing dynamic control tasks. Typically, proprietary software for practical controller design such as Matlab/simulink is used but lacks specific implementations of soft material robots. This intermediate work presents the results of a toolchain to derive well-identified rod simulations. State-of-the-art methods to simulate the dynamics of continuum robots are integrated into an object-oriented implementation and wrapped into the Simulink framework. The generated S-function is capable of handling arbitrary, user-defined input such as pressure actuation or external tip forces as demonstrated in numerical examples. With application to a soft pneumatic actuator, stiffness parameters of a nonlinear hyperelastic material law are identified via finite element simulation and paired with heuristically identified damping parameters to perform dynamic simulation. To prove the general functionality of the simulation, a numerical example as well as a benchmark from literature is implemented and shown. A soft pneumatic actuator is used to generate validation data, which is in good accordance with the respective simulation output. The tool is provided as an open-source project∗∗∗∗Code available under https://gitlab.com/soft_material_robotics/cosserat-rod-simulink-sfunction.
AB - Controller design for continuum robots maintains to be a difficult task. Testing controllers requires dedicated work in manufacturing and investment into hardware as well as software, to acquire a test bench capable of performing dynamic control tasks. Typically, proprietary software for practical controller design such as Matlab/simulink is used but lacks specific implementations of soft material robots. This intermediate work presents the results of a toolchain to derive well-identified rod simulations. State-of-the-art methods to simulate the dynamics of continuum robots are integrated into an object-oriented implementation and wrapped into the Simulink framework. The generated S-function is capable of handling arbitrary, user-defined input such as pressure actuation or external tip forces as demonstrated in numerical examples. With application to a soft pneumatic actuator, stiffness parameters of a nonlinear hyperelastic material law are identified via finite element simulation and paired with heuristically identified damping parameters to perform dynamic simulation. To prove the general functionality of the simulation, a numerical example as well as a benchmark from literature is implemented and shown. A soft pneumatic actuator is used to generate validation data, which is in good accordance with the respective simulation output. The tool is provided as an open-source project∗∗∗∗Code available under https://gitlab.com/soft_material_robotics/cosserat-rod-simulink-sfunction.
KW - Cosserat rod model
KW - simulation
KW - continuum robots
KW - Open source code
UR - http://www.scopus.com/inward/record.url?scp=85160526442&partnerID=8YFLogxK
U2 - 10.15488/15183
DO - 10.15488/15183
M3 - Conference contribution
SN - 979-8-3503-3223-0
T3 - IEEE International Conference on Soft Robotics
BT - 2023 IEEE International Conference on Soft Robotics (RoboSoft)
ER -