FEM Based Workspace Estimation for Soft Robots: a Forward-Backward Interval Analysis Approach

Abstract

Given a configuration of a silicone soft robot, with the bounded installed actuators, this paper investigates the workspace estimation for a certain chosen points of interest for such a soft robot. For this, the Finite Element method is adopted to deduce the mathematical model of soft robots, based on which a forward-backward interval analysis approach is performed to estimate the workspace. Numerical simulations are provided to highlight the feasibility of the proposed methodology.