Details
| Originalsprache | Englisch |
|---|---|
| Titel des Sammelwerks | 2023 IEEE International Conference on Soft Robotics (RoboSoft) |
| ISBN (elektronisch) | 979-8-3503-3222-3 |
| Publikationsstatus | Veröffentlicht - 2023 |
Publikationsreihe
| Name | IEEE International Conference on Soft Robotics |
|---|---|
| ISSN (Print) | 2769-4526 |
| ISSN (elektronisch) | 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.
ASJC Scopus Sachgebiete
- Informatik (insg.)
- Artificial intelligence
- Ingenieurwesen (insg.)
- Maschinenbau
- Mathematik (insg.)
- Steuerung und Optimierung
- Ingenieurwesen (insg.)
- Steuerungs- und Systemtechnik
- Informatik (insg.)
- Maschinelles Sehen und Mustererkennung
Zitieren
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- Harvard
- Apa
- Vancouver
- BibTex
- RIS
2023 IEEE International Conference on Soft Robotics (RoboSoft). 2023. (IEEE International Conference on Soft Robotics).
Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Aufsatz in Konferenzband › Forschung › 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 -