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Direct and Inverse Simulation of Deformable Linear Objects
Axel Remde , Dominik Henrich

Abstract (english)
In this chapter, the quantitative numerical simulation of the behavior of deformable linear objects, such as hoses, wires and leaf springs is studied. We first give a short review of the physical approach and the basic solution principle. Then, we give a more detailed description of some key aspects: We introduce a novel approach concerning dynamics based on an algorithm very similar to the one used for (quasi-) static computation. Then, we look at the plastic workpiece deformation, involving a modified computation algorithm and a special representation of the workpiece shape. Then, we give alternative solutions for two key aspects of the algorithm, and investigate the problem of performing the workpiece simulation efficiently, i.e., with desired precision in a short time. In the end, we introduce the inverse modeling problem which must be solved when the gripper trajectory for a given task shall be generated.

Publication data

Year: 2000
Publication date: 09. August 2000
Source: Robot manipulation of deformable objects, Henrich D., Wörn H. (Eds.), Springer-Verlag, London, 2000, ISBN: 1-85233-250-6, pp 43-70
Project: HANDFLEX
Keywords (english): deformable objects , manipulation skills , simulation
Referrer: http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=remde2000f

BibTeX

@MISC{remde2000f,
  TITLE             = "Direct and Inverse Simulation of Deformable Linear Objects",
  AUTHOR            = "Remde, Axel and Henrich, Dominik",
  YEAR              = "2000",
  JOURNAL           = "Robot manipulation of deformable objects, Henrich D., Wörn H. (Eds.), Springer-Verlag, London, 2000, ISBN: 1-85233-250-6, pp 43-70",
  HOWPUBLISHED      = "\url{http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=remde2000f}",
}

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Filename   Size   Language   Format
remde2000f.Direct.and.Inverse.Simulation.of.Deformable.Linear.Objects.djvu   225.2K   english   DJVU   download preprint
remde2000f.Direct.and.Inverse.Simulation.of.Deformable.Linear.Objects.pdf   224.3K   english   PDF   download preprint


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