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.
Author: | Shigang Yue, Dominik Henrich |
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URN: | urn:nbn:de:hbz:386-kluedo-11532 |
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 |
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 |