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Manipulating Deformable Linear Objects: Sensor-Based Fast Manipulation during Vibration

  • It is difficult for robots to handle a vibrating deformable object. Even for human beings it is a high-risk operation to, for example, insert a vibrating linear object into a small hole. However, fast manipulation using a robot arm is not just a dream; it may be achieved if some important features of the vibration are detected online. In this paper, we present an approach for fast manipulation using a force/torque sensor mounted on the robot's wrist. Template matching method is employed to recognize the vibrational phase of the deformable objects. Therefore, a fast manipulation can be performed with a high success rate, even if there is acute vibration. Experiments inserting a deformable object into a hole are conducted to test the presented method. Results demonstrate that the presented sensor-based online fast manipulation is feasible.

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Author:Shigang Yue, Dominik Henrich
URN (permanent link):urn:nbn:de:hbz:386-kluedo-11635
Document Type:Article
Language of publication:English
Year of Completion:2002
Year of Publication:2002
Publishing Institute:Technische Universität Kaiserslautern
Date of the Publication (Server):2002/03/28
Faculties / Organisational entities:Fachbereich Informatik
DDC-Cassification:0 Allgemeines, Informatik, Informationswissenschaft / 004 Informatik
Collections:AG RESY
Licence (German):Standard gemäß KLUEDO-Leitlinien vor dem 27.05.2011