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Manipulating Deformable Linear Objects: Force/torque Sensor-Based Adjustment-Motions For Vibration Elimination

  • The vibration induced in a deformable object upon automatic handling by robot manipulators can often be bothersome. This paper presents a force/torque sensor-based method for handling deformable linear objects (DLOs) in a manner suitable to eliminate acute vibration. An adjustment-motion that can be attached to the end of an arbitrary end-effector's trajectory is employed to eliminate vibration of deformable objects. Differently from model-based methods, the presented sensor-based method does not employ any information from previous motions. The adjustment-motion is generated automatically by analyzing data from a force/torque sensor mounted on the robot wrist. Template matching technique is used to find out the matching point between the vibrational signal of the DLO and a template. Experiments are conducted to test the new method under various conditions. Results demonstrate the effectiveness of the sensor-based adjustment-motion.

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Author:Shigang Yue, Dominik Henrich
URN (permanent link):urn:nbn:de:hbz:386-kluedo-11532
Document Type:Preprint
Language of publication:English
Year of Completion:2001
Year of Publication:2001
Publishing Institute:Technische Universität Kaiserslautern
Date of the Publication (Server):2001/06/12
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