Simulation of continuum robot in 2D

% actuator space
delta_l_2 = 1; % change in length of tendon 1 and tendon 2 (assume to be the same)
length_1_range = 10:-delta_l_2:5;
length_2_range = 20:delta_l_2:25;
[~,n] = size(length_1_range);
length_1 = zeros(n,100)';
length_2 = zeros(n,100)';

for i = 1:n 
    length_1(:,i) = linspace(0,length_1_range(i),100); % length of tendon 1
    for j = 1:n
        length_2(:,j) = linspace(0,length_2_range(j),100); % length of tendon 2
    end
end

% Configuration space
d=2; % radius of the continuum robot
length = (length_2 + length_1)/2;
theta = (length_2 - length_1)./(2*d); % rad
r = (2.*length_1.*d)./(length_2-length_1);

% Task space
o1_x = r-r.*cos(theta);
o1_y = r.*sin(theta);
% o1 = [o1_x,o1_y];
figure(1)
plot(o1_x(2:100,:),o1_y(2:100,:),LineWidth=4,LineStyle="-")
legend('length 1 = 10, length 2 = 20','length 1 = 9, length 2 = 21',...
    'length 1 = 8, length 2 = 22','length 1 = 7, length 2 = 23',...
    'length 1 = 6, length 2 = 24','length 1 = 5, length 2 = 25')

Hi there, I have coded up for the trajectory of the continuum robot when lengths of the tendon change. However, I wanted to change this code into a live simulation but I don't know how to do it. Can anyone help me with that? THANK YOU!!

Answer 1

[Ninad]

Hi Yen,

As per my understanding, you wish to visualize the plot that you have created above.

You may plot the graph inside a `for` loop, one value at a time. `pause` function can be used to delay the frames, so the visualization looks like an animation. `cla` command can also be used inside the loop to clear the current axes.

I have made some modifications to your code, to serve your purpose and saved it in a file named `continuumRobotSimulation.m` and attached it with this post.

Please review the code and see if it solves your problem.

References:

pause function: https://in.mathworks.com/help/matlab/ref/pause.html

cla command: https://in.mathworks.com/help/matlab/ref/cla.html