TY  - JOUR
A1  - Remde, Axel
A1  - Henrich, Dominik
A1  - Wörn, Heinz
T1  - Picking-up deformable linear objects with industrial robots
N2  - 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.
KW  - AG-RESY
KW  - PARO
KW  - HANDFLEX
Y1  - 1999
UR  - https://kluedo.ub.uni-kl.de/frontdoor/index/index/docId/1001
UR  - https://nbn-resolving.org/urn:nbn:de:hbz:386-kluedo-9550
ER  -