Dynamic modeling and simulation of manipulating deformable linear objects

Huang Jian, Pei Di, Toshio Fukuda, Takayuki Matsuno

Research output: Chapter in Book/Report/Conference proceedingConference contribution

14 Citations (Scopus)

Abstract

Deformable linear objects (DLOs) such as cables, hoses and wires are widely used in the real life, electric industries and medical operations. In this paper, we propose a new approach to simulate manipulating DLOs in the robotic assembly. The dynamic 2D deformation of an inextensible linear object is formulated using FEM approach. Based on the model, simulation can be efficiently implemented by matrix computation and numerical solvers for differential equations. The proposed method provides faster computation speed than methods based on differential geometry coordinate systems. Some simulation examples are illustrated to confirm the effectiveness of our methods.

Original languageEnglish
Title of host publicationProceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008
PublisherIEEE Computer Society
Pages858-863
Number of pages6
ISBN (Print)9781424426324
DOIs
Publication statusPublished - Jan 1 2008
Externally publishedYes
Event2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008 - Takamatsu, Japan
Duration: Aug 5 2008Aug 8 2008

Publication series

NameProceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008

Other

Other2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008
CountryJapan
CityTakamatsu
Period8/5/088/8/08

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Jian, H., Di, P., Fukuda, T., & Matsuno, T. (2008). Dynamic modeling and simulation of manipulating deformable linear objects. In Proceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008 (pp. 858-863). [4798869] (Proceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008). IEEE Computer Society. https://doi.org/10.1109/ICMA.2008.4798869