SCR

Simulations, control, implementation files of SCR.

setup simulations

• clone the repository

• add scrlib to matlab path

• perform matlab functions generation

  • open SCR/simbolic/Lagrangian_dynamics_2_sec.mlx
  • make sure tour folder is SCR/simbolic/
  • run the script and begin generation (it may takes some time)

setup real model

test are performed using "Matlab2020a". I suggest to use the same version.

• install https://github.com/NMMI/qbadmin and https://github.com/NMMI/qbAPI in "scrConnect" folder

• setup and install https://github.com/NMMI/qbmove-simulink in "scrConnect" folder

• attach the robot IMU and QB electronics

• setup ports parameters inside the model

• launch simulink model "scrConnect/soft_control.slx"

guide to files

• "curveIKsolver" is the pcc inverse kinematic solver, "curveIKsolver/test.m" perform simulation of IK using "curveIKsolver.m" class

• "curve2models" contains script of 2 modules robot.

  • static contains static simulation
  • dynamic contantins script and simulink file to simulate dynamic model and controls (symbolic function generation required!!!)

• "curve8models" static simulation of 8 modules robot

• "generic" contains function and curve library "curvelib" used to perform computation and simulation of the static model

• "scrConnect" is the implementtion of connection PC-robot using qb library

• "stability" contains simbolic stability evaluation

mounting guide and info

motor block

• build the motors
  • mount motors components
  • fix tendons on the pylley using splicing
  • close motor
• mount motors on the layers
• mount qb on the layers
• mount encoders
• pass the tendons through the appropriate holes
• stack and fix the layers
• pass the tendons inside the soft modules from the bottom to the top

tip

• mount the final vertebra on the tip of the robot
• use pins to fix tendons
• attach tip enclosure and fix the imu on the top