TY - GEN
T1 - Dynamic modeling and simulation of manipulating deformable linear objects
AU - Jian, Huang
AU - Di, Pei
AU - Fukuda, Toshio
AU - Matsuno, Takayuki
N1 - Copyright:
Copyright 2019 Elsevier B.V., All rights reserved.
PY - 2008
Y1 - 2008
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=64949109873&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=64949109873&partnerID=8YFLogxK
U2 - 10.1109/ICMA.2008.4798869
DO - 10.1109/ICMA.2008.4798869
M3 - Conference contribution
AN - SCOPUS:64949109873
SN - 9781424426324
T3 - Proceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008
SP - 858
EP - 863
BT - Proceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008
PB - IEEE Computer Society
T2 - 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008
Y2 - 5 August 2008 through 8 August 2008
ER -