Picking-up deformable linear objects with industrial robots
- 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.
Author: | Axel Remde, Dominik Henrich, Heinz Wörn |
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URN: | urn:nbn:de:hbz:386-kluedo-9550 |
Document Type: | Article |
Language of publication: | English |
Year of Completion: | 1999 |
Year of first Publication: | 1999 |
Publishing Institution: | Technische Universität Kaiserslautern |
Date of the Publication (Server): | 2000/03/29 |
Tag: | AG-RESY; HANDFLEX; PARO |
Faculties / Organisational entities: | Kaiserslautern - Fachbereich Informatik |
DDC-Cassification: | 0 Allgemeines, Informatik, Informationswissenschaft / 004 Informatik |
Collections: | AG RESY |
Licence (German): | Standard gemäß KLUEDO-Leitlinien vor dem 27.05.2011 |