Absolute Nodal Coordination Variation on a Soft Robotic Manipulator

Role

MSc Researcher, Hamlyn Centre for Robotic Surgery, Imperial College London.

Problem

The usual constant-curvature assumption breaks down for highly nonlinear compliant-elastomer manipulators.

Approach

Model the manipulator as a distributed-parameter system using an absolute nodal coordinate formulation, relaxing the constant-curvature assumption.

Result

Shape error reduced by an average of 8%.

Also

Wrote MATLAB libraries used across the lab’s shared robots and maintained its pneumatic hardware.

Write-up in progress

Figures and a detailed account are coming. In the meantime, I'm happy to talk through the work.