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Manipulating Deformable Linear Objects: Manipulation Skill for Active Damping of Oscillations
Antoine Schlechter , Dominik Henrich

Abstract (english)
While handling deformable linear objects (DLOs), such as hoses, wires or leaf springs, with an industrial robot at high speed, unintended and undesired oscillations that delay further operations may occur. This paper analyzes oscillations based on a simple model with one degree of freedom (DOF) and presents a method for active open-loop damping. Different ways to interpret an oscillating DLO as a system with 1 DOF lead to translational and rotational adjustment motions. Both were implemented as a manipulation skill with a sepa-rate program that can be executed immediately after any robot motion. We showed how these manipulation skills can generate the needed adjustment motions automatically based on the readings of a wrist-mounted force/torque sensor. Experiments demonstrated the effectiveness under various conditions.

Publication data

Year: 2002
Publication date: 01. July 2002
Source: IEEE International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, September 30 - October 4, 2002
Project: RODEO
Keywords (english): active damping , assembly , deformable objects , Force-Torque , manipulation skills , oscillation
Referrer: http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=schlechter2002b

BibTeX

@MISC{schlechter2002b,
  TITLE             = "Manipulating Deformable Linear Objects: Manipulation Skill for Active Damping of Oscillations",
  AUTHOR            = "Schlechter, Antoine and Henrich, Dominik",
  YEAR              = "2002",
  JOURNAL           = "IEEE International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, September 30 - October 4, 2002",
  HOWPUBLISHED      = "\url{http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=schlechter2002b}",
}

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Filename   Size   Language   Format
schlechter2002b.Manipulating.Deformable.Linear.Objects.Manipulation.Skill.for.Active.Damping.of.Oscillations.djvu   63.1K   english   DJVU   download preprint
schlechter2002b.Manipulating.Deformable.Linear.Objects.Manipulation.Skill.for.Active.Damping.of.Oscillations.pdf   90.8K   english   PDF   download preprint


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