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 - 2011 |
| Externally published | Yes |
| Event | 30th Chinese Control Conference, CCC 2011 - Yantai, China Duration: Jul 22 2011 → Jul 24 2011 |
Other
| Other | 30th Chinese Control Conference, CCC 2011 |
|---|---|
| Country | China |
| City | Yantai |
| Period | 7/22/11 → 7/24/11 |
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Keywords
- Deformable linear objects (DLOs)
- Dynamic model
- Finite element method (FEM)
- Robot manipulation
ASJC Scopus subject areas
- Control and Systems Engineering
Cite this
Three-dimensional modeling and simulation of manipulating deformable linear objects. / Ding, Feng; Huang, Jian; Wang, Yongji; Toshio, Fukuda; Matsuno, Takayuki.
Proceedings of the 30th Chinese Control Conference, CCC 2011. 2011. p. 4127-4132 6001476.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
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 - Matsuno, Takayuki
PY - 2011
Y1 - 2011
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
UR - http://www.scopus.com/inward/record.url?scp=80053072336&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=80053072336&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:80053072336
SN - 9789881725592
SP - 4127
EP - 4132
BT - Proceedings of the 30th Chinese Control Conference, CCC 2011
ER -