Manipulation Planning for Cable Shape Control
The control of deformable linear objects (DLOs) such as cables presents a significant challenge for robotic systems due to their unpredictable behavior during manipulation. This paper introduces a novel approach for cable shape control using dual robotic arms on a two–dimensional plane. A discrete p...
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2024-01-01
|
| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/13/1/18 |
| _version_ | 1797342615010541568 |
|---|---|
| author | Karam Almaghout Alexandr Klimchik |
| author_facet | Karam Almaghout Alexandr Klimchik |
| author_sort | Karam Almaghout |
| collection | DOAJ |
| description | The control of deformable linear objects (DLOs) such as cables presents a significant challenge for robotic systems due to their unpredictable behavior during manipulation. This paper introduces a novel approach for cable shape control using dual robotic arms on a two–dimensional plane. A discrete point model is utilized for the cable, and a path generation algorithm is developed to define intermediate cable shapes, facilitating the transformation of the cable into the desired profile through a formulated optimization problem. The problem aims to minimize the discrepancy between the cable configuration and the targeted shape to ensure an accurate and stable deformation process. Moreover, a cable dynamic model is developed in which the manipulation approach is validated using this model. Additionally, the approach is tested in a simulation environment in which a framework of two manipulators grasps a cable. The results demonstrate the feasibility and accuracy of the proposed method, offering a promising direction for robotic manipulation of cables. |
| first_indexed | 2024-03-08T10:35:51Z |
| format | Article |
| id | doaj.art-d9f02453e9274e4088b603d1296140bf |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-03-08T10:35:51Z |
| publishDate | 2024-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-d9f02453e9274e4088b603d1296140bf2024-01-26T18:21:51ZengMDPI AGRobotics2218-65812024-01-011311810.3390/robotics13010018Manipulation Planning for Cable Shape ControlKaram Almaghout0Alexandr Klimchik1Intelligent Robotics Systems Laboratory, Institute of Robotics and Computer Vision, Innopolis University, Innopolis 420500, RussiaLincoln Centre for Autonomous Systems Research (L-CAS), School of Computer Science, University of Lincoln, Lincoln LN6 7TS, UKThe control of deformable linear objects (DLOs) such as cables presents a significant challenge for robotic systems due to their unpredictable behavior during manipulation. This paper introduces a novel approach for cable shape control using dual robotic arms on a two–dimensional plane. A discrete point model is utilized for the cable, and a path generation algorithm is developed to define intermediate cable shapes, facilitating the transformation of the cable into the desired profile through a formulated optimization problem. The problem aims to minimize the discrepancy between the cable configuration and the targeted shape to ensure an accurate and stable deformation process. Moreover, a cable dynamic model is developed in which the manipulation approach is validated using this model. Additionally, the approach is tested in a simulation environment in which a framework of two manipulators grasps a cable. The results demonstrate the feasibility and accuracy of the proposed method, offering a promising direction for robotic manipulation of cables.https://www.mdpi.com/2218-6581/13/1/18robotic manipulationshape controloptimization control problemsimulationdeformable linear objects |
| spellingShingle | Karam Almaghout Alexandr Klimchik Manipulation Planning for Cable Shape Control Robotics robotic manipulation shape control optimization control problem simulation deformable linear objects |
| title | Manipulation Planning for Cable Shape Control |
| title_full | Manipulation Planning for Cable Shape Control |
| title_fullStr | Manipulation Planning for Cable Shape Control |
| title_full_unstemmed | Manipulation Planning for Cable Shape Control |
| title_short | Manipulation Planning for Cable Shape Control |
| title_sort | manipulation planning for cable shape control |
| topic | robotic manipulation shape control optimization control problem simulation deformable linear objects |
| url | https://www.mdpi.com/2218-6581/13/1/18 |
| work_keys_str_mv | AT karamalmaghout manipulationplanningforcableshapecontrol AT alexandrklimchik manipulationplanningforcableshapecontrol |