Planning for manipulation of interlinked deformable linear objects with applications to aircraft assembly
Name
963839181-MIT.pdf
Description
Full printable version
Size
6.87 MB
Format
Adobe PDF
Checksum (MD5)
ff6fcad74736a8009d76390cd5496b68
Author(s)
Shah, Ankit Jayesh
Advisor(s)
Julie A. Shah.
Alternative Title
Planning for manipulation of interlinked DLO with applications to aircraft assembly
Date Issued
2016
Publisher
Massachusetts Institute of Technology
Abstract
Manipulation of deformable linear objects (DLO) has potential applications in the fields of aerospace and automotive assembly. In this paper, we introduce a problem formulation for attaching a set of interlinked DLOs to a support structure using a set of clamping points. The formulation describes the manipulation planning problem in terms of known clamping locations; pre-determined ideal clamping locations on the cables, called "reference points", and a set of finite gripping points on the DLOs. We also present a prototype algorithm that generates a solution in terms of primitive manipulation actions. The algorithm guarantees that no interlink constraints are violated at any stage of manipulation. 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 the computation of solutions for unit length and scaling of these solutions to appropriate length, potentially resulting in faster shape computation.
Description
Thesis: S.M., Massachusetts Institute of Technology, Department of Aeronautics and Astronautics, 2016.
Cataloged from PDF version of thesis.
Includes bibliographical references (pages 83-87).
Subjects
Aeronautics and Astronautics.
MIT Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Terms of Use
M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.
Persistent DSpace Link
