Modelling, Analysis, and Optimisation of a Miniaturized Parallel Robot with Soft Joints for High-Speed Real-Time Control

This repository contains the MATLAB and SOFA models described in the paper "Modelling, Analysis, and Optimisation of a Miniaturized Parallel Robot with Soft Joints for High-Speed Real-Time Control" by Maxence Leveziel, Guillaume J. Laurent, Michael Gauthier, Redwan Dahmouche.

All Authors are with the FEMTO-ST Institute, Université Marie et Louis Pasteur, CNRS, SupMicroTech-ENSMM, Besançon, France.