It is dificult for robots to handle a vibrating deformable object. Even for human beings it is a high-risk operation to, for example, insert a vibrating linear object into a small hole. However, fast manipulation using a robot arm is not just a dream; it may be achieved if some important features of the vibration are detected on-line. In this paper, we present an approach for fast manipulation using a forcehorque sensor mounted on the robot's wrist. Template matching method is employed to recognize the vibrational phase of the deformable objects. Therefore, a fast manipulation can be performed with a high success rate, even if there is acute vibration. Experiments inserting a deformable object into a hole are conducted to test the presented method. Results demonstrate that the presented sensor-based on-line fast manipulation is feasible.
The insertion of a vibrating linear deformable object into a hole by using a force/torque sensor mounted on the robot's wrist has been studied in REF .
Manipulating deformable linear objects: sensor-based fast manipulation during vibration
Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)
Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)
Engineering Computer Science