A dynamic model that calculates the position of a tendon driven continuum robot for use in minimal invasive surgery. Uses a semi-discretisation scheme to implicitly discretise in time and then solves the resulting ODEs.
dynamicBVP uses MATLABs inbuilt BVP4C solver to solve the system of ODEs, and dynamicShooting uses the more typical shooting method approach.
Example input into dynamicShooting would be:
dt = 0.05; %Sets timestep size t = 0:dt:5; %Sets time vector Ns = 50; %Number of spacial segments doPlot = "plot"; %Dynamic plotting
T_t = zeros(4,Nt); %Initialises tension vector T_t(1,:) = 5sin(5/30pi()*t); %Sets one of the tensions to have a sinusoidal force input Initial = "Straight"; %Input either "Straight" or "Static" for initial condition
dynamicShooting(T_t,Ns,doPlot, dt, t, Initial);