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Manipulating Deformable Linear Objects: Attachable Adjustment-Motions 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. Different types of adjustment-motions that eliminate vibration of deformable objects and can be attached to the end of an arbitrary end-effector trajectory are presented. For describing 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. Experiments are conducted to verify the presented manipulating method.

Publication data

Year: 2001
Publication date: 12. June 2001
Source: Journal of Robotic Systems, vol 18, no 7, July 2001, pp. 375-389
Project: RODEO
Keywords (english): deformable objects , manipulation skills , motion planning , vibration
Referrer: http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=yue2001d

BibTeX

@MISC{yue2001d,
  TITLE             = "Manipulating Deformable Linear Objects: Attachable Adjustment-Motions for Vibration Reduction",
  AUTHOR            = "Yue, Shigang and Henrich, Dominik",
  YEAR              = "2001",
  JOURNAL           = "Journal of Robotic Systems, vol 18, no 7, July 2001, pp. 375-389",
  HOWPUBLISHED      = "\url{http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=yue2001d}",
}

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Filename   Size   Language   Format
yue2001d.Manipulating.Deformable.Linear.Objects.Attachable.AdjustmentMotions.for.Vibration.Reduction.djvu   551K   english   DJVU   download preprint
yue2001d.Henrich.Manipulating.Deformable.Linear.Objects.Attachable.AdjustmentMotions.for.Vibration.Reduction.pdf   375.7K   english   PDF   download preprint
yue2001d.Manipulating.Deformable.Linear.Objects.Attachable.AdjustmentMotions.for.Vibration.Reduction.pdf   1.3M   english   PDF   download preprint


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