Comments (1)
Good point- the initial guess makes a big difference in the performance of the solver, and can be the difference between success and failure. One approach is iteratively solving the problem for increasing tendon forces, i.e. parameter stepping. For an initial guess, using the equilibrium should be a huge step up from guessing all zeroes.
The git process isn't too hard if you want to make this change. You just create a new branch named something like "better-tendon-guess", create a commit on your branch with your changes, then create a pull request to merge your branch into the main one.
Just two things to change: v0_guess isn't necessary, and u0_guess = Kbt\mb0_guess is fine. And n0_guess can be nb0_guess.
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Related Issues (12)
- Do you have a matlab code for Tendon Static Case HOT 3
- typos in the documentation CosseratRodIvpSolution.pdf HOT 2
- Question about TendonRobotStatics.m HOT 3
- Questions regarding the formulation of the static equation in 01_Statics/02_CSG_Inverse_Kinematics/CSG_Inverse_Kinematics.pdf HOT 7
- External force on an arbitry point. HOT 7
- Non-crucial Derivation Error HOT 1
- Rod with an Archimedean spiral reference shape HOT 4
- When tension of tendon is larger, such as tau=20, the solver stopped prematurely. HOT 5
- Frictional model for tendon driven continuum robot HOT 4
- New Blender versions break compatability HOT 1
- Build error of project โ01_Statics\06_Tendon_Robot_Variants\Cpp_3\Tendon_Displacement_Controlโ HOT 7
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