Publikationsdatenbank
Publication
Manipulating Deformable Linear Objects: Force/torque Sensor-Based Adjustment-Motions For Vibration EliminationShigang 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: | https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?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{https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?mode=pub_show&pub_ref=yue2001b}",
}
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| Filename | Size | Language | Format | ||||
|---|---|---|---|---|---|---|---|
| yue2001b.Manipulating.Deformable.Linear.Objects.Force.torque .SensorBased.AdjustmentMotions.For.Vibration.Elimination.djv u |
110.9K | english | DJVU | download preprint | |||
| yue2001b.Manipulating.Deformable.Linear.Objects.Force.torque .SensorBased.AdjustmentMotions.For.Vibration.Elimination.pdf |
178.5K | english | download preprint |