This code is associated to the paper Tummers et al., “Cosserat Rod Modeling of Continuum Robots from Newtonian and Lagrangian Perspectives,” IEEE T-RO. (DOI 10.1109/TRO.2023.3238171) to model tendon actuated continuum robots through both the Newtonian and Lagrangian approaches. Compared to the literature, both approaches are extended with novelties
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How can this be achieved if the tendon length constraint is considered #3
I have added the tendon constraint boundary condition in the residual term in Newton's method but it doesn't converge well during the LM iterations. What method can I use if I want to add tendon constraints in the Cosserat-rod model, would it be more appropriate to add them in the Lagrangian function.
Lapia666
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2 days ago
I have added the tendon constraint boundary condition in the residual term in Newton's method but it doesn't converge well during the LM iterations. What method can I use if I want to add tendon constraints in the Cosserat-rod model, would it be more appropriate to add them in the Lagrangian function.