Dynamical Model of Soft Robot Manipulator 3DOF

The code simulate a free-response of a 3-DOF soft robot manipulator. Moreover, code produces an animation to illustrate the deformation.

The code simulate a free-response of a 3-DOF soft robot manipulator in SIMULINK. After the simulation, the code with plot the state trajectories and generates a video file showing the real-deformation behavior of the backbone of the robot. The dynamical model can be written in the following form:

D(q)ddq + C(q,dq)dq + N(q) + F(dq) = tau.

The control input tau is set to zero, yet the SIMULINK model leaves room for closed-loop control. The novelty of the model is the addition of non-linear stiffness effects that are typically present in hyper-elastic materials undergoing large deformations.

**reference to paper is coming