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 proceedingConference 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 languageEnglish
Title of host publicationProceedings of the 30th Chinese Control Conference, CCC 2011
Pages4127-4132
Number of pages6
Publication statusPublished - Sep 27 2011
Externally publishedYes
Event30th Chinese Control Conference, CCC 2011 - Yantai, China
Duration: Jul 22 2011Jul 24 2011

Publication series

NameProceedings of the 30th Chinese Control Conference, CCC 2011

Other

Other30th Chinese Control Conference, CCC 2011
CountryChina
CityYantai
Period7/22/117/24/11

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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  • Cite this

    Ding, F., Huang, J., Wang, Y., Toshio, F., & Takayuki, M. (2011). Three-dimensional modeling and simulation of manipulating deformable linear objects. In Proceedings of the 30th Chinese Control Conference, CCC 2011 (pp. 4127-4132). [6001476] (Proceedings of the 30th Chinese Control Conference, CCC 2011).