TY  - INPR
A1  - Remde, Axel
A1  - Henrich, Dominik
T1  - Direct and Inverse Simulation of Deformable Linear Objects
N2  - In this chapter, the quantitative numerical simulation of the behavior of deformable linear objects, such as hoses, wires and leaf springs is studied. We first give a short review of the physical approach and the basic solution principle. Then, we give a more detailed description of some key aspects: We introduce a novel approach concerning dynamics based on an algorithm very similar to the one used for (quasi-) static computation. Then, we look at the plastic workpiece deformation, involving a modified computation algorithm and a special representation of the workpiece shape. Then, we give alternative solutions for two key aspects of the algorithm, and investigate the problem of performing the workpiece simulation efficiently, i.e., with desired precision in a short time. In the end, we introduce the inverse modeling problem which must be solved when the gripper trajectory for a given task shall be generated.
KW  - AG-RESY
KW  - HANDFLEX
KW  - Robotics
KW  - Manipulation
KW  - Deformable Objects
KW  - Simulation
Y1  - 2000
UR  - https://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1043
UR  - https://nbn-resolving.org/urn:nbn:de:hbz:386-kluedo-9964
ER  -