3D visual-based tension control in strip-like deformable objects using a catenary model
| Autor: | N. Roca Filella, A. Koessler, B.C. Bouzgarrou, J.-A. Corrales Ramon |
|---|---|
| Přispěvatelé: | Koessler, Adrien, Institut Pascal (IP), Centre National de la Recherche Scientifique (CNRS)-Université Clermont Auvergne (UCA)-Institut national polytechnique Clermont Auvergne (INP Clermont Auvergne), Université Clermont Auvergne (UCA)-Université Clermont Auvergne (UCA), Laboratoire de Conception Fabrication Commande (LCFC), Université de Lorraine (UL)-Arts et Métiers Sciences et Technologies, HESAM Université - Communauté d'universités et d'établissements Hautes écoles Sorbonne Arts et métiers université (HESAM)-HESAM Université - Communauté d'universités et d'établissements Hautes écoles Sorbonne Arts et métiers université (HESAM), Centro Singular de Investigacion en Tecnoloxias da Informacion (CiTIUS), Universidade de Santiago de Compostela [Spain] (USC ), IEEE, ANR-16-IDEX-0001,CAP 20-25,CAP 20-25(2016), ANR-10-LABX-0016,IMoBS3,Innovative Mobility : Smart and Sustainable Solutions(2010) |
| Jazyk: | angličtina |
| Rok vydání: | 2022 |
| Předmět: |
catenary model
visual feedback strip-like objects RGB-D camera [SPI] Engineering Sciences [physics] 3D visual-based tension control deformable objects robotic manipulation industrial reel vision-based control scheme tension distribution elasto-plastic objects manipulated strip [SPI]Engineering Sciences [physics] control strategy desired tension value rubber strip motorized reel |
| Zdroj: | 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 35th IEEE/RSJ International Conference on Intelligent Robots and Systems 35th IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2022, Kyoto, Japan. pp.3210-3217, ⟨10.1109/IROS47612.2022.9982197⟩ |
| Popis: | International audience; In recent years, there has been a growing interest in robotic manipulation of deformable objects. In order to perform certain tasks, the robot must control the shape of the object while taking care not to apply excessive stresses so as not to deform it irreversibly. This is the case when extracting elasto-plastic objects in strips from an industrial reel. In order to control the mechanical stresses within the object, we propose a vision-based control scheme to minimize tension by regulating the angular velocity of a motorized reel on which they are wound. In this paper, we propose a method, based on a catenary model and visual feedback from a low-cost RGB-D camera, to estimate the tension distribution along a rubber strip. Thus, the control strategy aims to achieve a desired tension value by varying the length of the suspended portion of the manipulated strip. Simulation and experimental results validate the proposed approach for strip-like objects of various dimensions. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
|