Journal Article<i>TMTDyn</i> : A Matlab package for modeling and control of hybrid rigid–continuum robots based on discretized lumped systems and reduced-order modelsSadati, S.M. Hadi; Naghibi, S. Elnaz; Shiva, Ali; Michael, Brendan; Renson, Ludovic; Howard, Matthew; Rucker, Caleb D.; Althoefer, Kaspar; Nanayakkara, Thrishantha; Zschaler, Steffen; Bergeles, Christos; Hauser, Helmut; Walker, Ian D.nullA reliable, accurate, and yet simple dynamic model is important to analyzing, designing, and controlling hybrid rigid–continuum robots. Such models should be fast, as simple as possible, and user-friendly to be widely accepted by the ever-growing robotics research community. In this study, we introduce two new modeling methods for continuum manipulators: a general reduced-order model (ROM) and a discretized model with absolute states and Euler–Bernoulli beam segments (EBA). In addition, a new formulation is presented for a recently introduced discretized model based on Euler–Bernoulli beam segments and relative states (EBR). We implement these models in a Matlab software package, named TMTDyn, to develop a modeling tool for hybrid rigid–continuum systems. The package features a new high-level language (HLL) text-based interface, a CAD-file import module, automatic formation of the system equation of motion (EOM) for different modeling and control tasks, implementing Matlab C-mex functionality for improved performance, and modules for static and linear modal analysis of a hybrid system. The underlying theory and software package are validated for modeling experimental results for (i) dynamics of a continuum appendage, and (ii) general deformation of a fabric sleeve worn by a rigid link pendulum. A comparison shows higher simulation accuracy (8–14% normalized error) and numerical robustness of the ROM model for a system with a small number of states, and computational efficiency of the EBA model with near real-time performances that makes it suitable for large systems. The challenges and necessary modules to further automate the design and analysis of hybrid systems with a large number of states are briefly discussed.2021-01-0110278856The International Journal of Robotics Research401296 to 3470278-3649https://doi.org/10.1177/02783649198816851652588National Science Foundation