Manipulating Deformable Linear Objects: Sensor-Based Fast Manipulation during Vibration
- It is difficult for robots to handle a vibrating deformable object. Even for human beings it is a high-risk operation to, for example, insert a vibrating linear object into a small hole. However, fast manipulation using a robot arm is not just a dream; it may be achieved if some important features of the vibration are detected online. In this paper, we present an approach for fast manipulation using a force/torque sensor mounted on the robot's wrist. Template matching method is employed to recognize the vibrational phase of the deformable objects. Therefore, a fast manipulation can be performed with a high success rate, even if there is acute vibration. Experiments inserting a deformable object into a hole are conducted to test the presented method. Results demonstrate that the presented sensor-based online fast manipulation is feasible.
Author: | Shigang Yue, Dominik Henrich |
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URN: | urn:nbn:de:hbz:386-kluedo-11635 |
Document Type: | Article |
Language of publication: | English |
Year of Completion: | 2002 |
Year of first Publication: | 2002 |
Publishing Institution: | Technische Universität Kaiserslautern |
Date of the Publication (Server): | 2002/03/28 |
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 |