Dataset for paper "Model-based Trajectory Tracking of a Compliant Continuum Robot"
This is the dataset for the dynamic analysis of the Endoscope described in paper "Model-based Trajectory Tracking of a Compliant Continuum Robot". The dataset includes model-generated trajectory demands and experimental data from Optitrack motion tracking and Simulink-generated torque demands.
Cite this dataset as:
Georgilas, I.,
Bailey, N.,
Pekris, S.,
Atkins, T.,
2024.
Dataset for paper "Model-based Trajectory Tracking of a Compliant Continuum Robot".
Bath: University of Bath Research Data Archive.
Available from: https://doi.org/10.15125/BATH-01392.
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Data
Model_Data.zip
application/zip (37MB)
Creative Commons: Attribution 4.0
This are the demand values generated by the theoretical Model. It is stored as .mat (Matlab) format. There are 5 paths.
Experimental_Data.zip
application/zip (122MB)
Creative Commons: Attribution 4.0
This are the response values generated during the experimental testing. It contains information from the OptriTrack (.csv) and the Simulink Controller (.xlsx) There are 5 paths.
Creators
Ioannis Georgilas
University of Bath
Nicola Bailey
King's College London
Solomon Pekris
University of Bath
Thibaud Atkins
University of Bath
Contributors
University of Bath
Rights Holder
Documentation
Data collection method:
The data presented here were generated in two ways: - Model data were generated off-line by inputting a desired trajectory and running the model to generate demand tendon values - Experimental data were generated by two sources, a) the Optitrack visual marker data in 3D space for the disks of the endoscope robot, and b) the Simulation data logging from the endoscope robot controller where the actual tendon tensions are being recorded.
Funders
University of Bath
https://doi.org/10.13039/501100000835
Publication details
Publication date: 16 April 2024
by: University of Bath
Version: 1
DOI: https://doi.org/10.15125/BATH-01392
URL for this record: https://researchdata.bath.ac.uk/id/eprint/1392
Related papers and books
Pekris, S., Williams, R. D., Atkins, T., Georgilas, I., and Bailey, N., 2024. Model-based trajectory tracking of a compliant continuum robot. Frontiers in Robotics and AI, 11. Available from: https://doi.org/10.3389/frobt.2024.1358857.
Contact information
Please contact the Research Data Service in the first instance for all matters concerning this item.
Contact person: Ioannis Georgilas
Faculty of Engineering & Design
Mechanical Engineering
Research Centres & Institutes
Centre for Autonomous Robotics (CENTAUR)
Centre for Bioengineering & Biomedical Technologies (CBio)
Centre for Digital, Manufacturing & Design (dMaDe)
