Three-dimensional modeling and simulation of manipulating deformable linear objects

Feng Ding; Jian Huang; Yongji Wang; Fukuda Toshio; Matsuno Takayuki

Three-dimensional modeling and simulation of manipulating deformable linear objects

Feng Ding, Jian Huang, Yongji Wang, Fukuda Toshio, Matsuno Takayuki

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

Abstract

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.

Original language	English
Title of host publication	Proceedings of the 30th Chinese Control Conference, CCC 2011
Pages	4127-4132
Number of pages	6
Publication status	Published - Sep 27 2011
Externally published	Yes
Event	30th Chinese Control Conference, CCC 2011 - Yantai, China Duration: Jul 22 2011 → Jul 24 2011

Publication series

Name	Proceedings of the 30th Chinese Control Conference, CCC 2011

Other

Other	30th Chinese Control Conference, CCC 2011
Country	China
City	Yantai
Period	7/22/11 → 7/24/11

Keywords

Deformable linear objects (DLOs)
Dynamic model
Finite element method (FEM)
Robot manipulation

ASJC Scopus subject areas

Control and Systems Engineering

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Three-dimensional modeling and simulation of manipulating deformable linear objects. / Ding, Feng; Huang, Jian; Wang, Yongji; Toshio, Fukuda; Takayuki, Matsuno.

Proceedings of the 30th Chinese Control Conference, CCC 2011. 2011. p. 4127-4132 6001476 (Proceedings of the 30th Chinese Control Conference, CCC 2011).

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

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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.

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