Manipulating Deformable Linear Objects: Attachable Adjustment-Motions for Vibration Reduction

Titelangaben

Yue, Shigang ; Henrich, Dominik:
Manipulating Deformable Linear Objects: Attachable Adjustment-Motions for Vibration Reduction.
In: Journal of Robotic Systems. Bd. 18 (2001) Heft 7 . - S. 375-389.
ISSN 1556-4967
DOI: https://doi.org/10.1002/rob.1030

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Abstract

This paper addresses the problem of handling deformable linear objects in a suitable way to avoid acute vibration. Different types of adjustment-motions that eliminate vibration of deformable objects and that can be attached to the end of an arbitrary end-effector's trajectory are presented. For describing the dynamics of deformable linear objects, the finite element method is used to derive the dynamic differential equations. A genetic algorithm is used to find the optimal adjustment motion for each simulation example. Experiments are conducted to verify the presented manipulating method.