Dual-arm robotic manipulation of flexible cables
Dual-arm robotic manipulation of flexible cables
复制标题
双臂机器人操纵柔性电缆
DOI：
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发表时间：
2018
期刊：
影响因子：
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通讯作者：
A. Cherubini
中科院分区：
文献类型：
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作者：
Jihong Zhu;B. Navarro;P. Fraisse;A. Crosnier;A. Cherubini
将电缆变形为所需的（可达到的）形状对于人类来说是一项微不足道的任务，甚至不知道电缆的内部动力学。本文提出了一种多机器人操纵索形的框架。形状由傅立叶级数参数化。索的局部变形模型在线估计的形状参数。使用的变形模型，速度控制法应用于机器人变形成所需的形状的电缆。双臂机械手的实验进行了验证框架。
Deforming a cable to a desired (reachable) shape is a trivial task for a human to do without even knowing the internal dynamics of the cable. This paper proposes a framework for cable shapes manipulation with multiple robot manipulators. The shape is parameterized by a Fourier series. A local deformation model of the cable is estimated on-line with the shape parameters. Using the deformation model, a velocity control law is applied on the robot to deform the cable into the desired shape. Experiments on a dual-arm manipulator are conducted to validate the framework.