Skip to content

Latest commit

 

History

History
23 lines (17 loc) · 907 Bytes

README.md

File metadata and controls

23 lines (17 loc) · 907 Bytes
Raw

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