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}", }
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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 |
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