Manipulating Deformable Linear Objects: Attachable Adjustment-Motions for Vibration Reduction

  • 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.

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Metadaten
Author:Shigang Yue, Dominik Henrich
URN (permanent link):urn:nbn:de:hbz:386-kluedo-11552
Document Type:Preprint
Language of publication:English
Year of Completion:2001
Year of Publication:2001
Publishing Institute:Technische Universität Kaiserslautern
Tag:AG-RESY ; RODEO ; deformable object ; manipulation ; motion planning ; robot ; vibration
Faculties / Organisational entities:Fachbereich Informatik
DDC-Cassification:004 Datenverarbeitung; Informatik
Collections:AG RESY

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