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Manipulating Deformable Linear Objects: Fuzzy-Based Active Vibration Damping Skill
Shigang Yue , Dominik Henrich

Abstract (english)
Human can handle a deformable object and damp its vibration with recognized skill. However, for an industrial robot, handling a deformable object with acute vibration is often a difficult task. This paper addresses the problem of active damping skill for handling deformable linear objects (DLOs) by using a strategy inspired from human manipulation skills. The strategy is illustrated by several rules, which are explained by a fuzzy and a P controller. A proportional-integral-derivative (PID) controller is also employed to explain the rules as a comparison. The interpretations from controllers are translated into high level commands in a robotic language V+. A standard industrial robot with a force/torque sensor mounted on the wrist was employed to demonstrate the skill. Experimental results showed the fuzzy based damping skill is quite effective and stable even without any previous acknowledge of the deformable linear objects.

Publication data

Year: 2006
Publication date: 04. August 2006
Source: Journal of Intelligent Robot Systems 46/2006, pp. 201-219
Project: RODEO
Keywords (english): deformable objects , Force-Torque , manipulation skills , vibration
Referrer: http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=yue2006a

BibTeX

@MISC{yue2006a,
  TITLE             = "Manipulating Deformable Linear Objects: Fuzzy-Based Active Vibration Damping Skill",
  AUTHOR            = "Yue, Shigang and Henrich, Dominik",
  YEAR              = "2006",
  JOURNAL           = "Journal of Intelligent Robot Systems 46/2006, pp. 201-219",
  HOWPUBLISHED      = "\url{http://www.ai3.uni-bayreuth.de/resypub/?mode=pub_show&pub_ref=yue2006a}",
}

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yue2006a.Manipulating.Deformable.Linear.Objects.FuzzyBased.Active.Vibration.Damping.Skill.pdf   686.5K   english   PDF   download preprint


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