Picking-up deformable linear objects with industrial robots

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Remde, Axel ; Henrich, Dominik ; Wörn, Heinz:
Picking-up deformable linear objects with industrial robots.
In: 30th International Symposium on Robotics. - Tokyo, Japan , 1999

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This paper deals with the problem of picking-up deformable linear workpieces such as cables or ropes with an industrial robot. First, we give a motivation and problem definition. Based on a brief conceptual discussion of possible approaches we derive an algorithm for picking-up hanging deformable linear objects using two light barriers as sensor system. For this hardware, a skill-based approach is described and the parameters and major influence factors are discussed. In an experi- mental study, the feasibility and reliability under diverse conditions are investigated. The algorithm is found to be very reliable, if certain boundary conditions are met.