are controlled by their joint coordinate values. The toolbox allows the user to enter values of their joint coordinates as inputs to the simulation, as shown in Figures 8(b)(2)-(4). Following the third link, there is a passive buffer consisting of 2 -2 -4 -6 -8 2 4 X (m) 2 -2 -4 -6 -8 -10 05 10 15 X (m) (a) (1) c2(t) 200 8 m e3 e2 o 1 -1 -2 -3 -4 -6 -5 -7 -8 -9 t = 0 s 05 10 15 X (m) (b) FIGURE 6. A comparison of (a) the simulation results obtained using SoRoSim with (b) those obtained in [17]. (1) The reference configuration of the flexible rod with external force and moments. Snapshots of the midflight dynamics of the rod in (2) the yz-plane and (3) the xz-plane. The comparison is with the dashed black line, which models an inextensible rod with three modes/strain. 114 IEEE ROBOTICS & AUTOMATION MAGAZINE SEPTEMBER 2023 20 25 e1 f1(t) 6 m c3(t) = c2(t)/20 f1(t) = c2(t)/10 0 2.5 5 t(s) c2(t) c3 (t) 1 -1 -2 -3 -4 -6 -5 -7 -8 -9 -5 05 Y (m) (3) t = 2 s t = 3 s t = 3.8 s t = 4.4 s t = 5 s t = 5.5 s t = 5.8 s t = 6.5 s t = 7 s t = 6.1 s t = 2.5 s t = 4.5 s t = 3.8 s t = 0 s t = 3.5 s 20 25 (2) t = 0 s 6 M3 M2 F1 1 2 Y (m) -10 -5 05 Y (m) (3) 2 s 3 s 5.5 s 3.8 s 4.4 s 5 s 6.5 s 7 s 5.8 s 6.1 s (1) three parallel soft links connected to two rigid disks at each end, as in Figure 8(c). These soft links are attached to the base disk via spherical joints and connected to the end disk via closed-loop fixed joints. The buffer, which adds to the 2 -2 -4 -6 -8 (2) t = 0 s 3.5 s 3.8 s 4.5 s 2.5 s Z (m) Z (m) Z (m) 8 m Z (m) Z (m) 6 m