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Manipulating Deformable Linear Objects: Model-Based Adjustment-Motion for Vibration Reduction
Shigang Yue , Dominik Henrich

Abstract (english)
This paper addresses the problem of handling deformable linear objects (DLOs) in a suitable way to avoid acute vibration. An adjustment-motion that eliminates vibration of DLOs and can be attached to the end of any arbitrary end-effector's trajectory is presented, based on the concept of open-loop control. The presented adjustment-motion is a kind of agile end-effector motion with limited scope. To describe the dynamics of deformable linear objects, the finite element method is used to derive the dynamic differential equations. Genetic algorithm is used to find the optimal adjustment-motion for each simulation example. In contrast to previous approaches, the presented method can be treated as one of the manipulation skills and can be applied to different cases without major changes to the method.

Publication data

Year: 2001
Publication date: 12. June 2001
Source: The 10th International Conference on Advanced Robotics 2001, Aug. 22-25, Budapest, Hungary
Project: RODEO
Referrer: http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=yue2001a

BibTeX

@MISC{yue2001a,
  TITLE             = "Manipulating Deformable Linear Objects: Model-Based Adjustment-Motion for Vibration Reduction",
  AUTHOR            = "Yue, Shigang and Henrich, Dominik",
  YEAR              = "2001",
  JOURNAL           = "The 10th International Conference on Advanced Robotics 2001, Aug. 22-25, Budapest, Hungary",
  HOWPUBLISHED      = "\url{http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=yue2001a}",
}

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yue2001a.Manipulating.Deformable.Linear.Objects.ModelBased.AdjustmentMotion.for.Vibration.Reduction.djvu   159.5K   english   DJVU   download preprint
yue2001a.Manipulating.Deformable.Linear.Objects.ModelBased.AdjustmentMotion.for.Vibration.Reduction.pdf   392.3K   english   PDF   download preprint


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