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Manipulating Deformable Linear Objects: Robot Motions in Single and Multiple Contact Points

  • The task of handling non-rigid one-dimensional objects by a robot manipulation system is investigated. Especially, approaches to calculate motions with specific behavior in point contacts between the object and environment are regarded. For single point contacts, motions based on generalized rotations solving the direct and inverse manipulation problem are investigated. The latter problem is additionally tackled by simple rotation and translation motions. For double and multiple point contacts, motions based on Splines are suggested. In experimental results with steel springs, the predicted and measured effect for each approach are compared.

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Author:Thorsten W. Schmidt, Dominik Henrich
URN (permanent link):urn:nbn:de:hbz:386-kluedo-11542
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