Dynamic modeling and simulation of manipulating deformable linear objects

Huang Jian; Pei Di; Toshio Fukuda; Takayuki Matsuno

doi:10.1109/ICMA.2008.4798869

Dynamic modeling and simulation of manipulating deformable linear objects

Huang Jian, Pei Di, Toshio Fukuda, Takayuki Matsuno

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

17 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 language	English
Title of host publication	Proceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008
Publisher	IEEE Computer Society
Pages	858-863
Number of pages	6
ISBN (Print)	9781424426324
DOIs	https://doi.org/10.1109/ICMA.2008.4798869
Publication status	Published - 2008
Externally published	Yes
Event	2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008 - Takamatsu, Japan Duration: Aug 5 2008 → Aug 8 2008

Publication series

Name	Proceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008

Other

Other	2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008
Country/Territory	Japan
City	Takamatsu
Period	8/5/08 → 8/8/08

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

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10.1109/ICMA.2008.4798869

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

Dynamic modeling and simulation of manipulating deformable linear objects. / Jian, Huang; Di, Pei; Fukuda, Toshio; Matsuno, Takayuki.

Proceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008. IEEE Computer Society, 2008. p. 858-863 4798869 (Proceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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., 4798869, Proceedings of 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008, IEEE Computer Society, pp. 858-863, 2008 IEEE International Conference on Mechatronics and Automation, ICMA 2008, Takamatsu, Japan, 8/5/08. https://doi.org/10.1109/ICMA.2008.4798869

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

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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.

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Dynamic modeling and simulation of manipulating deformable linear objects

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