SuRFR: A fast recursive simulator for soft manipulators with discrete joints on SE(3)

We develop a fast, recursive, and parameterization-free formulation for the dynamics of soft robots. Such systems are modelled as multi-body systems, composed of rigid and flexible bodies connected with discrete joints. We couple the recursive Newton–Euler equation for rigid bodies and the Partial D...

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Veröffentlicht in:	Mechanism and machine theory Jg. 194; S. 105589
Hauptverfasser:	Samei, Hossain, Chhabra, Robin
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	Elsevier Ltd 01.04.2024
Schlagworte:	Cosserat rod Dynamics modelling & simulation Finite difference method Lie groups Multi-body systems Soft robots Software library Dynamics modelling & simulation Lie groups Multi-body systems Cosserat rod Software library Soft robots Finite difference method
ISSN:	0094-114X
Online-Zugang:	Volltext
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