Articulated Systems¶

This section covers planar and spatial articulated robot systems, including rigid-link chains, composable actuation, and joints with optional compliance.

Overview¶

Articulated systems model robots as serial chains of rigid links connected by generalized joints. They are useful for:

• planar rigid-body dynamics benchmarks
• cable-driven articulated mechanisms
• spatial rigid-body manipulator baselines
• soft-joint articulated robots
• comparison with continuum robot models
• controllers that require dense configuration-space dynamics

Available Systems¶

Pendulum¶

Planar N-link rigid-body chain with revolute joints, optional joint stiffness and damping, and lightweight benchmark dynamics.

Articulated Soft Robot¶

Spatial serial-chain implementation with one screw-axis joint per link, optional joint stiffness and damping, dense matrix dynamics, and a dedicated forward-dynamics path.

McKibben UMArm¶

Spatial articulated UMArm with direct-pressure McKibben muscle actuation.

System Comparison¶