A MATLAB simulation of SnakeRaven's kinematics and control.
SnakeRaven is a tendon-driven, 3D-printed snake-like continuum instrument for the RAVEN II surgical robot. This simulation runs the kinematics standalone — no hardware required, which makes it the easiest way to see how the manipulator behaves.
Status: archived. From the PhD work, not actively maintained.
Run the main file in the MATLAB command window:
>> RavenSnakeBotControlA figure renders the snake section of SnakeRaven moving from an initial pose towards a final pose. Settings in the main file let you record the motion as a .gif or adjust the control parameters.
The kinematics simulated here are published in:
A. Razjigaev, A. K. Pandey, D. Howard, J. Roberts and L. Wu, "SnakeRaven: Teleoperation of a 3D Printed Snake-like Manipulator Integrated to the RAVEN II Surgical Robot," 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021, pp. 5282–5288. doi:10.1109/IROS51168.2021.9636878
Full derivation: PhD thesis.
- SnakeRaven_IBVS_simulation — the vision system, built on this simulator. Also runs without hardware.
- SnakeRaven-Project — the full system running on a real RAVEN II.
MIT — see LICENSE.