A Fast Geometric Framework for Dynamic Cosserat Rods with Discrete Actuated Joints
Hossain Samei,Robin Chhabra,Hossain Samei,Robin Chhabra
Current dynamical models of Cosserat rods often use the finite element method limited by computational efficiency or the finite difference method in a Cartesian framework with a compromise to accuracy. We employ the finite difference method in a geometric framework to develop solutions that are both computationally efficient and accurate. A numerical study is conducted on various backward-differen...
