D. Sun, X. Shi, and Y. Liu. Modeling and cooperation of two-arm robotic system manipulating a deformable object. Proc. IEEE International Conference on Robotics and Automation, pages 2346--2351, Minneapolis, MN, 1996.  Home/Search   Document Not in Database   Summary   Related Articles   Check

....the physical properties of objects in planning applications. Several important applications could benefit from planners that account for the physical properties of the manipulated objects. For example, in industrial settings there is a need to handle sheets of metal [46] pipes that can bend [54], and cables [45] In assembly maintainability studies done with virtual prototyping, planning is used to compute a removal path for a part from an assembly, given only the CAD model of the assembly [17] The flexibility of the part needs to be considered as engineers use deformable parts to ....

.... tasks (like hammering a peg into a hole) and their modeling and control is under development (for pointers to current work see [46] Recent papers consider the dynamic analysis of robots with flexible payloads such as two robots manipulating a flexible metal sheet [46] or a vibrating object [54], or solve the task of inserting one end of a flexible wire into a hole while holding the other end [45] Furthermore, research in snake like robots has explored issues related to geometric mechanics that are relevant to our discussion [13, 48] For example, the work in [48] describes the net ....

D. Sun, X. Shi, and Y. Liu. Modeling and cooperation of two-arm robotic system manipulating a deformable object. In Proc. IEEE Int. Conf. on Rob. and Autom., pages 2346-2351, Albuquerque, NM, 1996.

.... (like hammering a peg into a hole) and their modeling and control is an active area of research (for pointers to current work see [15] Recent papers consider dy namic analysis of robots with flexible payloads such as two robots manipulating a flexible sheet metal [15] or a vibrating object [18], or solve the task of inserting one end of a flexible wire into a hole while holding the other end [14] Furthermore, research in snake like robots has explored geometric mechanics , a topic that is relevant to our discussion [16] Issues related to object deformation have been mostly studied ....

D. Sun, X. Shi, and Y. Liu. Modeling and cooperation of two-arm robotic system manipulating a deformable object. In Proc. IEEE Int. Conf. on Rob. and Autore., pages 2346-2351, Albuquerque, NM, 1996.

....described in this paper. Figure 1: Snapshot along a manipulation path for an elastic plate (Three quarter view) Several important applications motivate our research on planning for flexible objects: in industrial settings there is a need to manipulate sheets of metal [26] pipes that can bend [30], and cables [25] In assembly maintainability studies done with virtual prototyping, planning is used to compute a removal path for a part from an assembly, given only the CAD model of the assembly [6] The flexibility of the part needs to be considered as engineers use deformable parts to ....

D. Sun, X. Shi, and Y. Liu. Modeling and cooperation of twoarm robotic system manipulating a deformable object. In Proc. IEEE Int. Conf. on Rob. and Autom., pages 2346--2351, Albuquerque, NM, 1996.

....and Zalzala, 1995) but do not consider all constraints imposed in such systems. Recently, Thanjavur and Rajogopalan (1997) modeled an AGV using Kane s equations. Previous approaches to non rigid material handling focus mainly on formulating general continuous dynamic equations for the object. Sun et al. 1996) followed Terzopoulos (Terzopoulos and Fleischer, 1988) hybrid approach to deformable objects. Kosuge et al. 1995) used finite elements but ignored the dynamics of the object Figs. 1 and 2. Due to space limitations mathematical derivations have been shortened. The interested reader may refer to ....

Sun, D., Shi, X., Liu, Y., 1996. Modeling and cooperation of two-arm robotic system manipulating a deformable object. In: 1996 IEEE International Conference on Robotics and Automation, pp.

....extension of the planning problem and is the first attempt to consider the mechanical behavior of objects (e.g. elasticity) in a planning framework. Several important applications motivate our research: in industrial settings there is a need to manipulate sheets of metal [39] pipes that can bend [47], and cables [38] In assembly maintainability studies done with virtual prototyping, planning is used to compute a removal path for a part from an assembly, given only the CAD model of the assembly [11] The flexibility of the part 1 (a) b) Figure 1: An elastic plate inside a polyhedral box. ....

.... tasks (like hammering a peg into a hole) and their modeling and control is under development (for pointers to current work see [39] Recent papers consider the dynamic analysis of robots with flexible payloads such as two robots manipulating a flexible metal sheet [39] or a vibrating object [47], or solve the task of inserting one end of a flexible wire into a hole while holding the other end [38] Furthermore, research in snake like robots has explored issues related to geometric mechanics that are relevant to our discussion [8, 41] For example, the work in [41] describes the net ....

D. Sun, X. Shi, and Y. Liu. Modeling and cooperation of two-arm robotic system manipulating a deformable object. In Proc. IEEE Int. Conf. on Rob. and Autom., pages 2346--2351, Albuquerque, NM, 1996. 26

.... tasks (like hammering a peg into a hole) and their modeling and control is an active area of research (for pointers to current work see [15] Recent papers consider dynamic analysis of robots with flexible payloads such as two robots manipulating a flexible sheet metal [15] or a vibrating object [18], or solve the task of inserting one end of a flexible wire into a hole while holding the other end [14] Furthermore, research in snake like robots has explored geometric mechanics , a topic that is relevant to our discussion [16] Issues related to object deformation have been mostly studied ....

D. Sun, X. Shi, and Y. Liu. Modeling and cooperation of two-arm robotic system manipulating a deformable object. In Proc. IEEE Int. Conf. on Rob. and Autom., pages 2346--2351, Albuquerque, NM, 1996.

....The issue of flexibility has been primarily investigated by building and studying flexible robots. Those robots can perform tasks such as hammering a peg into a hole. But research in this field deals mainly with the control of these robots and not motion planning. Examples include the work in [16] which considers, from a control point of view, the motion and deformation of a flexible object grasped by two robot arms, and the work in [13] where the problem of inserting one end of a wire into a hole while holding the other end is solved. Today several applications require the treatment of ....

D. Sun, X. Shi, and Y. Liu. Modeling and cooperation of two-arm robotic system manipulating a deformable object. In Proc. IEEE Int. Conf. on Rob. and Autom., pages 2346--2351, Albuquerque, NM, 1996.

....described in this paper. Figure 1: Snapshot along a manipulation path for an elastic plate (Three quarter view) Several important applications motivate our research on planning for flexible objects: in industrial settings there is a need to manipulate sheets of metal [26] pipes that can bend [30], and cables [25] In assembly maintainability studies done with virtual prototyping, planning is used to compute a removal path for a part from an assembly, given only the CAD model of the assembly [6] The flexibility of the part needs to be considered as engineers use deformable parts to ....

D. Sun, X. Shi, and Y. Liu. Modeling and cooperation of twoarm robotic system manipulating a deformable object. In Proc. IEEE Int. Conf. on Rob. and Autom., pages 2346--2351, Albuquerque, NM, 1996.

....However, there are still many problem domains for which better planning methods are needed. For example, planning manipulation tasks involving contact of rigid bodies remains a challenging problem despite receiving much attention. When flexible models are involved, the difficulty only increases [17, 25]. One of our research goals is to model various contact states such as deformation, friction, multiple points of contact and multi body dynamics. Dynamic Simulation. Physically based animations and haptic interfaces require real time dynamic simulations. In recent years, haptic interfaces have ....

D. Sun, X. Shi, and Y. Liu. Modeling and cooperation of two-arm robotic system manipulating a deformable object. In Proc. IEEE Int. Conf. Robot. Autom. (ICRA), pages 2346--2351, Albuquerque, NM, 1997.

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D. Sun, X. Shi, and Y. Liu. Modeling and cooperation of two-arm robotic system manipulating a deformable object. Proc. IEEE International Conference on Robotics and Automation, pages 2346--2351, Minneapolis, MN, 1996.

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