Imperial College London
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DrLudovicRenson

Faculty of Engineering, Department of Mechanical Engineering

Senior Lecturer
 
 
 
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Contact

 

+44 (0)20 7594 7088l.renson

 
 
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Location

 

558City and Guilds BuildingSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@article{Sadati:2021:10.1177/0278364919881685,
author = {Sadati, H and Naghib, E and Shiva, A and Michael, B and Renson, L and Howard, M and Rucker, C and Althoefer, K and Nanayakkara, DPT and Zschaler, S and Bergeles, C and Hauser, H and Walker, I},
doi = {10.1177/0278364919881685},
journal = {International Journal of Robotics Research},
pages = {296--347},
title = {TMTDyn: A Matlab package for modeling and control of hybrid rigid–continuum robots based on discretized lumped system and reduced-order models},
url = {http://dx.doi.org/10.1177/0278364919881685},
volume = {40},
year = {2021}
}
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RIS format (EndNote, RefMan)

TY  - JOUR
AB  - A reliable, accurate, and yet simple dynamic model is important to analyzing, designing, and controlling hybrid rigid–continuum robots. Such models should be fast, as simple as possible, and user-friendly to be widely accepted by the ever-growing robotics research community. In this study, we introduce two new modeling methods for continuum manipulators: a general reduced-order model (ROM) and a discretized model with absolute states and Euler–Bernoulli beam segments (EBA). In addition, a new formulation is presented for a recently introduced discretized model based on Euler–Bernoulli beam segments and relative states (EBR). We implement these models in a Matlab software package, named TMTDyn, to develop a modeling tool for hybrid rigid–continuum systems. The package features a new high-level language (HLL) text-based interface, a CAD-file import module, automatic formation of the system equation of motion (EOM) for different modeling and control tasks, implementing Matlab C-mex functionality for improved performance, and modules for static and linear modal analysis of a hybrid system. The underlying theory and software package are validated for modeling experimental results for (i) dynamics of a continuum appendage, and (ii) general deformation of a fabric sleeve worn by a rigid link pendulum. A comparison shows higher simulation accuracy (8–14% normalized error) and numerical robustness of the ROM model for a system with a small number of states, and computational efficiency of the EBA model with near real-time performances that makes it suitable for large systems. The challenges and necessary modules to further automate the design and analysis of hybrid systems with a large number of states are briefly discussed.
AU  - Sadati,H
AU  - Naghib,E
AU  - Shiva,A
AU  - Michael,B
AU  - Renson,L
AU  - Howard,M
AU  - Rucker,C
AU  - Althoefer,K
AU  - Nanayakkara,DPT
AU  - Zschaler,S
AU  - Bergeles,C
AU  - Hauser,H
AU  - Walker,I
DO  - 10.1177/0278364919881685
EP  - 347
PY  - 2021///
SN  - 0278-3649
SP  - 296
TI  - TMTDyn: A Matlab package for modeling and control of hybrid rigid–continuum robots based on discretized lumped system and reduced-order models
T2  - International Journal of Robotics Research
UR  - http://dx.doi.org/10.1177/0278364919881685
UR  - https://journals.sagepub.com/doi/full/10.1177/0278364919881685
UR  - http://hdl.handle.net/10044/1/73217
VL  - 40
ER  -
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