TACR Simulator

This is a simulation program for Tendon Actuated Continuum Robots (TACR) in CRL. It provides a visualization of forward kinematics of one or multiple robots given their configuration and input parameters, following constant curvature model.

The GUI input of program support maximum 3 robots, 3 segments and 4 tendons for each robot.

Software Requirement

• C++11 or later
• Qt 5.12 or later
• VTK 8.2.0
• Eigen 3

Usage

• Open tendon_robot_simulator.pro (using Qt Creator or Qt Visual Studio Tools)
• Compile the program
• Set the robot(s) cofiguration in an xml file and put it under root folder (use test_robot.xml or test_multiple_robots.xml as example)
• Run the program
  • Select robot configuration file in the poped up window
  • Enter the tendon length input for each robot
  • Click "Calculate" button or hit Enter key to start the forward kinematics animation