IEEE Robotics & Automation Magazine - September 2023 - 114

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

IEEE Robotics & Automation Magazine - September 2023

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - September 2023

Contents
IEEE Robotics & Automation Magazine - September 2023 - Cover1
IEEE Robotics & Automation Magazine - September 2023 - Cover2
IEEE Robotics & Automation Magazine - September 2023 - 1
IEEE Robotics & Automation Magazine - September 2023 - Contents
IEEE Robotics & Automation Magazine - September 2023 - 3
IEEE Robotics & Automation Magazine - September 2023 - 4
IEEE Robotics & Automation Magazine - September 2023 - 5
IEEE Robotics & Automation Magazine - September 2023 - 6
IEEE Robotics & Automation Magazine - September 2023 - 7
IEEE Robotics & Automation Magazine - September 2023 - 8
IEEE Robotics & Automation Magazine - September 2023 - 9
IEEE Robotics & Automation Magazine - September 2023 - 10
IEEE Robotics & Automation Magazine - September 2023 - 11
IEEE Robotics & Automation Magazine - September 2023 - 12
IEEE Robotics & Automation Magazine - September 2023 - 13
IEEE Robotics & Automation Magazine - September 2023 - 14
IEEE Robotics & Automation Magazine - September 2023 - 15
IEEE Robotics & Automation Magazine - September 2023 - 16
IEEE Robotics & Automation Magazine - September 2023 - 17
IEEE Robotics & Automation Magazine - September 2023 - 18
IEEE Robotics & Automation Magazine - September 2023 - 19
IEEE Robotics & Automation Magazine - September 2023 - 20
IEEE Robotics & Automation Magazine - September 2023 - 21
IEEE Robotics & Automation Magazine - September 2023 - 22
IEEE Robotics & Automation Magazine - September 2023 - 23
IEEE Robotics & Automation Magazine - September 2023 - 24
IEEE Robotics & Automation Magazine - September 2023 - 25
IEEE Robotics & Automation Magazine - September 2023 - 26
IEEE Robotics & Automation Magazine - September 2023 - 27
IEEE Robotics & Automation Magazine - September 2023 - 28
IEEE Robotics & Automation Magazine - September 2023 - 29
IEEE Robotics & Automation Magazine - September 2023 - 30
IEEE Robotics & Automation Magazine - September 2023 - 31
IEEE Robotics & Automation Magazine - September 2023 - 32
IEEE Robotics & Automation Magazine - September 2023 - 33
IEEE Robotics & Automation Magazine - September 2023 - 34
IEEE Robotics & Automation Magazine - September 2023 - 35
IEEE Robotics & Automation Magazine - September 2023 - 36
IEEE Robotics & Automation Magazine - September 2023 - 37
IEEE Robotics & Automation Magazine - September 2023 - 38
IEEE Robotics & Automation Magazine - September 2023 - 39
IEEE Robotics & Automation Magazine - September 2023 - 40
IEEE Robotics & Automation Magazine - September 2023 - 41
IEEE Robotics & Automation Magazine - September 2023 - 42
IEEE Robotics & Automation Magazine - September 2023 - 43
IEEE Robotics & Automation Magazine - September 2023 - 44
IEEE Robotics & Automation Magazine - September 2023 - 45
IEEE Robotics & Automation Magazine - September 2023 - 46
IEEE Robotics & Automation Magazine - September 2023 - 47
IEEE Robotics & Automation Magazine - September 2023 - 48
IEEE Robotics & Automation Magazine - September 2023 - 49
IEEE Robotics & Automation Magazine - September 2023 - 50
IEEE Robotics & Automation Magazine - September 2023 - 51
IEEE Robotics & Automation Magazine - September 2023 - 52
IEEE Robotics & Automation Magazine - September 2023 - 53
IEEE Robotics & Automation Magazine - September 2023 - 54
IEEE Robotics & Automation Magazine - September 2023 - 55
IEEE Robotics & Automation Magazine - September 2023 - 56
IEEE Robotics & Automation Magazine - September 2023 - 57
IEEE Robotics & Automation Magazine - September 2023 - 58
IEEE Robotics & Automation Magazine - September 2023 - 59
IEEE Robotics & Automation Magazine - September 2023 - 60
IEEE Robotics & Automation Magazine - September 2023 - 61
IEEE Robotics & Automation Magazine - September 2023 - 62
IEEE Robotics & Automation Magazine - September 2023 - 63
IEEE Robotics & Automation Magazine - September 2023 - 64
IEEE Robotics & Automation Magazine - September 2023 - 65
IEEE Robotics & Automation Magazine - September 2023 - 66
IEEE Robotics & Automation Magazine - September 2023 - 67
IEEE Robotics & Automation Magazine - September 2023 - 68
IEEE Robotics & Automation Magazine - September 2023 - 69
IEEE Robotics & Automation Magazine - September 2023 - 70
IEEE Robotics & Automation Magazine - September 2023 - 71
IEEE Robotics & Automation Magazine - September 2023 - 72
IEEE Robotics & Automation Magazine - September 2023 - 73
IEEE Robotics & Automation Magazine - September 2023 - 74
IEEE Robotics & Automation Magazine - September 2023 - 75
IEEE Robotics & Automation Magazine - September 2023 - 76
IEEE Robotics & Automation Magazine - September 2023 - 77
IEEE Robotics & Automation Magazine - September 2023 - 78
IEEE Robotics & Automation Magazine - September 2023 - 79
IEEE Robotics & Automation Magazine - September 2023 - 80
IEEE Robotics & Automation Magazine - September 2023 - 81
IEEE Robotics & Automation Magazine - September 2023 - 82
IEEE Robotics & Automation Magazine - September 2023 - 83
IEEE Robotics & Automation Magazine - September 2023 - 84
IEEE Robotics & Automation Magazine - September 2023 - 85
IEEE Robotics & Automation Magazine - September 2023 - 86
IEEE Robotics & Automation Magazine - September 2023 - 87
IEEE Robotics & Automation Magazine - September 2023 - 88
IEEE Robotics & Automation Magazine - September 2023 - 89
IEEE Robotics & Automation Magazine - September 2023 - 90
IEEE Robotics & Automation Magazine - September 2023 - 91
IEEE Robotics & Automation Magazine - September 2023 - 92
IEEE Robotics & Automation Magazine - September 2023 - 93
IEEE Robotics & Automation Magazine - September 2023 - 94
IEEE Robotics & Automation Magazine - September 2023 - 95
IEEE Robotics & Automation Magazine - September 2023 - 96
IEEE Robotics & Automation Magazine - September 2023 - 97
IEEE Robotics & Automation Magazine - September 2023 - 98
IEEE Robotics & Automation Magazine - September 2023 - 99
IEEE Robotics & Automation Magazine - September 2023 - 100
IEEE Robotics & Automation Magazine - September 2023 - 101
IEEE Robotics & Automation Magazine - September 2023 - 102
IEEE Robotics & Automation Magazine - September 2023 - 103
IEEE Robotics & Automation Magazine - September 2023 - 104
IEEE Robotics & Automation Magazine - September 2023 - 105
IEEE Robotics & Automation Magazine - September 2023 - 106
IEEE Robotics & Automation Magazine - September 2023 - 107
IEEE Robotics & Automation Magazine - September 2023 - 108
IEEE Robotics & Automation Magazine - September 2023 - 109
IEEE Robotics & Automation Magazine - September 2023 - 110
IEEE Robotics & Automation Magazine - September 2023 - 111
IEEE Robotics & Automation Magazine - September 2023 - 112
IEEE Robotics & Automation Magazine - September 2023 - 113
IEEE Robotics & Automation Magazine - September 2023 - 114
IEEE Robotics & Automation Magazine - September 2023 - 115
IEEE Robotics & Automation Magazine - September 2023 - 116
IEEE Robotics & Automation Magazine - September 2023 - 117
IEEE Robotics & Automation Magazine - September 2023 - 118
IEEE Robotics & Automation Magazine - September 2023 - 119
IEEE Robotics & Automation Magazine - September 2023 - 120
IEEE Robotics & Automation Magazine - September 2023 - 121
IEEE Robotics & Automation Magazine - September 2023 - 122
IEEE Robotics & Automation Magazine - September 2023 - 123
IEEE Robotics & Automation Magazine - September 2023 - 124
IEEE Robotics & Automation Magazine - September 2023 - 125
IEEE Robotics & Automation Magazine - September 2023 - 126
IEEE Robotics & Automation Magazine - September 2023 - 127
IEEE Robotics & Automation Magazine - September 2023 - 128
IEEE Robotics & Automation Magazine - September 2023 - 129
IEEE Robotics & Automation Magazine - September 2023 - 130
IEEE Robotics & Automation Magazine - September 2023 - 131
IEEE Robotics & Automation Magazine - September 2023 - 132
IEEE Robotics & Automation Magazine - September 2023 - 133
IEEE Robotics & Automation Magazine - September 2023 - 134
IEEE Robotics & Automation Magazine - September 2023 - 135
IEEE Robotics & Automation Magazine - September 2023 - 136
IEEE Robotics & Automation Magazine - September 2023 - 137
IEEE Robotics & Automation Magazine - September 2023 - 138
IEEE Robotics & Automation Magazine - September 2023 - 139
IEEE Robotics & Automation Magazine - September 2023 - 140
IEEE Robotics & Automation Magazine - September 2023 - 141
IEEE Robotics & Automation Magazine - September 2023 - 142
IEEE Robotics & Automation Magazine - September 2023 - 143
IEEE Robotics & Automation Magazine - September 2023 - 144
IEEE Robotics & Automation Magazine - September 2023 - 145
IEEE Robotics & Automation Magazine - September 2023 - 146
IEEE Robotics & Automation Magazine - September 2023 - 147
IEEE Robotics & Automation Magazine - September 2023 - 148
IEEE Robotics & Automation Magazine - September 2023 - 149
IEEE Robotics & Automation Magazine - September 2023 - 150
IEEE Robotics & Automation Magazine - September 2023 - 151
IEEE Robotics & Automation Magazine - September 2023 - 152
IEEE Robotics & Automation Magazine - September 2023 - 153
IEEE Robotics & Automation Magazine - September 2023 - 154
IEEE Robotics & Automation Magazine - September 2023 - 155
IEEE Robotics & Automation Magazine - September 2023 - 156
IEEE Robotics & Automation Magazine - September 2023 - 157
IEEE Robotics & Automation Magazine - September 2023 - 158
IEEE Robotics & Automation Magazine - September 2023 - 159
IEEE Robotics & Automation Magazine - September 2023 - 160
IEEE Robotics & Automation Magazine - September 2023 - 161
IEEE Robotics & Automation Magazine - September 2023 - 162
IEEE Robotics & Automation Magazine - September 2023 - 163
IEEE Robotics & Automation Magazine - September 2023 - 164
IEEE Robotics & Automation Magazine - September 2023 - 165
IEEE Robotics & Automation Magazine - September 2023 - 166
IEEE Robotics & Automation Magazine - September 2023 - 167
IEEE Robotics & Automation Magazine - September 2023 - 168
IEEE Robotics & Automation Magazine - September 2023 - Cover3
IEEE Robotics & Automation Magazine - September 2023 - Cover4
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2010
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2010
https://www.nxtbookmedia.com