Manipulating Deformable Linear Objects: Force/torque Sensor-Based Adjustment-Motions For Vibration Elimination

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Yue, Shigang ; Henrich, Dominik:
Manipulating Deformable Linear Objects: Force/torque Sensor-Based Adjustment-Motions For Vibration Elimination.
In: Proceedings of the 10th International Conference on Advanced Robotics, ICAR 2001. - Budapest , 2001

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The vibration induced in a deformable object upon automatic handling by robot manipulators can often be bothersome. This paper presents a force/torque sensor-based method for handling deformable linear objects (DLOs) in a manner suitable to eliminate acute vibration. An adjustment-motion that can be attached to the end of an arbitrary end-effector's trajectory is employed to eliminate vibration of deformable objects. Differently from model-based methods, the presented sensor-based method does not employ any information from previous motions. The adjustment-motion is generated automatically by analyzing data from a force/torque sensor mounted on the robot wrist. Template matching technique is used to find out the matching point between the vibrational signal of the DLO and a template. Experiments are conducted to test the new method under various conditions. Results demonstrate the effectiveness of the sensor-based adjustment-motion.