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Manipulating Deformable Linear Objects: Force/torque Sensor-Based Adjustment-Motions For Vibration Elimination
Shigang Yue , Dominik Henrich

Abstract (english)
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.

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=yue2001b

BibTeX

@MISC{yue2001b,
  TITLE             = "Manipulating Deformable Linear Objects: Force/torque Sensor-Based Adjustment-Motions For Vibration Elimination",
  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=yue2001b}",
}

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yue2001b.Manipulating.Deformable.Linear.Objects.Force.torque.SensorBased.AdjustmentMotions.For.Vibration.Elimination.djvu   110.9K   english   DJVU   download preprint
yue2001b.Manipulating.Deformable.Linear.Objects.Force.torque.SensorBased.AdjustmentMotions.For.Vibration.Elimination.pdf   178.5K   english   PDF   download preprint


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