Symplectic Integration for Multivariate Dynamic Spline-Based Model of Deformable Linear Objects

Autor: Alaa Khalifa, Gianluca Palli
Přispěvatelé: Khalifa A., Palli G.
Rok vydání: 2021
Předmět:
FOS: Computer and information sciences
0209 industrial biotechnology
Multivariate statistics
Surgical suture
Process (engineering)
Computer science
Integration
Model parameters
Surgery Engineering uncontrolled terms Computationally efficient
02 engineering and technology
Integration method
01 natural sciences
Computer Science - Robotics
020901 industrial engineering & automation
Symplectic integrator
Electromechanical industry
Runge Kutta method
business.industry
Applied Mathematics
Mechanical Engineering
Engineering industrie
Robotics
General Medicine
16. Peace & justice
Iterative method
0104 chemical sciences
Interpolation
Robotic
010404 medicinal & biomolecular chemistry
Spline (mathematics)
Robotic manipulation
Object behavior
Control and Systems Engineering
Engineering controlled terms Forecasting
Deformable linear object
Integrator
Artificial intelligence
business
Algorithm
Efficient prediction
Symplectic integration Engineering main heading Deformation
Robotics (cs.RO)
Symplectic geometry
DOI: 10.48550/arxiv.2108.08935
Popis: Deformable Linear Objects (DLOs) such as ropes, cables, and surgical sutures have a wide variety of uses in automotive engineering, surgery, and electromechanical industries. Therefore, modeling of DLOs as well as a computationally efficient way to predict the DLO behavior are of great importance, in particular to enable robotic manipulation of DLOs. The main motivation of this work is to enable efficient prediction of the DLO behavior during robotic manipulation. In this paper, the DLO is modeled by a multivariate dynamic spline, while a symplectic integration method is used to solve the model iteratively by interpolating the DLO shape during the manipulation process. Comparisons between the symplectic, Runge-Kutta and Zhai integrators are reported. The presented results show the capabilities of the symplectic integrator to overcome other integration methods in predicting the DLO behavior. Moreover, the results obtained with different sets of model parameters integrated by means of the symplectic method are reported to show how they influence the DLO behavior estimation.
Comment: 12 pages, 12 figures, journal paper
Databáze: OpenAIRE
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