TY - GEN
T1 - Three-dimensional modeling and simulation of manipulating deformable linear objects
AU - Ding, Feng
AU - Huang, Jian
AU - Wang, Yongji
AU - Toshio, Fukuda
AU - Takayuki, Matsuno
PY - 2011/9/27
Y1 - 2011/9/27
N2 - Three-dimensional dynamic modeling and numerical simulation of manipulating deformable linear objects (DLOs) such as hoses, wire and cables are studied in this paper. Several coordinate systems are introduced first to describe the deformation of DLOs. The dynamic three-dimensional deformation of an inextensible linear object is formulated using finite element method (FEM) and lagrange motion equations. The proposed method provides more efficient simulation of dynamic manipulating DLOs with faster computation speed. Two simulation examples are illustrated to confirm the effectiveness of our methods. One is a comparison simulation study and the other shows the three-dimensional dynamic character of the DLO.
AB - Three-dimensional dynamic modeling and numerical simulation of manipulating deformable linear objects (DLOs) such as hoses, wire and cables are studied in this paper. Several coordinate systems are introduced first to describe the deformation of DLOs. The dynamic three-dimensional deformation of an inextensible linear object is formulated using finite element method (FEM) and lagrange motion equations. The proposed method provides more efficient simulation of dynamic manipulating DLOs with faster computation speed. Two simulation examples are illustrated to confirm the effectiveness of our methods. One is a comparison simulation study and the other shows the three-dimensional dynamic character of the DLO.
KW - Deformable linear objects (DLOs)
KW - Dynamic model
KW - Finite element method (FEM)
KW - Robot manipulation
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M3 - Conference contribution
AN - SCOPUS:80053072336
SN - 9789881725592
T3 - Proceedings of the 30th Chinese Control Conference, CCC 2011
SP - 4127
EP - 4132
BT - Proceedings of the 30th Chinese Control Conference, CCC 2011
T2 - 30th Chinese Control Conference, CCC 2011
Y2 - 22 July 2011 through 24 July 2011
ER -