Towards manipulation planning for multiple interlinked deformable linear objects
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Shah_Towards manipulation.pdf
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765.53 KB
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Author(s)
Shah, Ankit Jayesh
Shah, Julie A
Date Issued
May 2016
Journal
IEEE International Conference on Robotics and Automation, 2016. ICRA '16.
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Shah, Ankit J., and Julie A. Shah. “Towards Manipulation Planning for Multiple Interlinked Deformable Linear Objects.” IEEE, 2016. 3908–3915.
Version
Author's final manuscript
Abstract
Manipulation of deformable linear objects (DLO) has potential applications in aerospace and automotive assembly. The current literature on planning for deformable objects focuses on a single DLO at a time. In this paper, we provide a problem formulation for attaching a set of interlinked DLOs to a support structure through a set of clamping points. We also present a prototype algorithm that generates a solution in terms of primitive manipulation actions. The algorithm guarantees that none of the interlink constraints are violated. Finally, we incorporate gravity in the computation of a DLO shape and propose a property linking geometrically similar cable shapes across the space of cable length and stiffness. This property allows for computation of solutions for unit length and scaling of the solutions to appropriate length, thus potentially making shape computations faster.
MIT Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1109/ICRA.2016.7487580
