Solving Cosserat Rod Models via Collocation and the Magnus Expansion
Andrew L. Orekhov,Nabil Simaan,Andrew L. Orekhov,Nabil Simaan
Choosing a kinematic model for a continuum robot typically involves making a tradeoff between accuracy and computational complexity. One common modeling approach is to use the Cosserat rod equations, which have been shown to be accurate for many types of continuum robots. This approach, however, still presents significant computational cost, particularly when many Cosserat rods are coupled via kin...
