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.
Author: | Shigang Yue, Dominik Henrich |
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URN: | urn:nbn:de:hbz:386-kluedo-11552 |
Document Type: | Preprint |
Language of publication: | English |
Year of Completion: | 2001 |
Year of first Publication: | 2001 |
Publishing Institution: | Technische Universität Kaiserslautern |
Date of the Publication (Server): | 2001/06/12 |
Tag: | AG-RESY; RODEO; deformable object; manipulation; motion planning; robot; vibration |
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 |