Publikationsdatenbank
Publication
Manipulating Deformable Linear Objects: Attachable Adjustment-Motions for Vibration ReductionShigang 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: | https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?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{https://www.ai3.uni-bayreuth.de/de/publikationen/resypub/index.php?mode=pub_show&pub_ref=yue2001d}",
}
Download
| Filename | Size | Language | Format | ||||
|---|---|---|---|---|---|---|---|
| yue2001d.Manipulating.Deformable.Linear.Objects.Attachable.A djustmentMotions.for.Vibration.Reduction.djvu |
551K | english | DJVU | download preprint | |||
| yue2001d.Manipulating.Deformable.Linear.Objects.Attachable.A djustmentMotions.for.Vibration.Reduction.pdf |
1.3M | english | download preprint | ||||
| yue2001d.Henrich.Manipulating.Deformable.Linear.Objects.Atta chable.AdjustmentMotions.for.Vibration.Reduction.pdf |
375.7K | english | download preprint |