Publikationsdatenbank
Publication
Picking-up deformable linear objects with industrial robotsAxel Remde , Dominik Henrich , Heinz Wörn
Abstract (english)
This paper deals with the problem of picking-up deformable linear workpieces such as cables or ropes with an industrial robot. First, we give a motivation and problem definition. Based on a brief conceptual discussion of possible approaches we derive an algorithm for picking-up hanging deformable linear objects using two light barriers as sensor system. For this hardware, a skill-based approach is described and the parameters and major influence factors are discussed. In an experi- mental study, the feasibility and reliability under diverse conditions are investigated. The algorithm is found to be very reliable, if certain boundary conditions are met.
Publication data
| Year: | 1999 |
| Publication date: | 27. October 1999 |
| Source: | International Symposium on Robotics (30th ISR), October 27-29, 1999, Tokyo, Japan |
| Project: | HANDFLEX , PARO |
| Referrer: | https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?mode=pub_show&pub_ref=remde1999c |
BibTeX
@MISC{remde1999c,
TITLE = "Picking-up deformable linear objects with industrial robots",
AUTHOR = "Remde, Axel and Henrich, Dominik and Wörn, Heinz",
YEAR = "1999",
JOURNAL = "International Symposium on Robotics (30th ISR), October 27-29, 1999, Tokyo, Japan",
HOWPUBLISHED = "\url{https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?mode=pub_show&pub_ref=remde1999c}",
}
Download
| Filename | Size | Language | Format | ||||
|---|---|---|---|---|---|---|---|
| remde1999c.Pickingup.deformable.linear.objects.with.industri al.robots.djvu |
117.5K | english | DJVU | download preprint | |||
| remde1999c.Pickingup.deformable.linear.objects.with.industri al.robots.pdf |
332.2K | english | download preprint |