An open-chain robotics simulation toolbox that uses the Geometric Variable Strain Model to simulate soft and rigid manipulators.
Using this toolbox, users can simulate and solve forward kinematic problems as well as plot different manipulator configurations. The toolbox also enables users to solve static and dynamic equilibrium equations of linkages subjected to cable actuation, external distributedforces and external point forces.
Ikhlas Ben Hmida (2021). SoRoSim (https://www.mathworks.com/matlabcentral/fileexchange/83038-sorosim), MATLAB Central File Exchange.