Experiments in quasi-static manipulation of a planar elastic rod

Dennis Matthews, Timothy Wolfe Bretl

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we introduce and experimentally validate a sampling-based planning algorithm for quasi-static manipulation of a planar elastic rod. Our algorithm is an immediate consequence of deriving a global coordinate chart of finite dimension that suffices to describe all possible configurations of the rod that can be placed in static equilibrium by fixing the position and orientation of each end. Hardware experiments confirm this derivation in the case where the 'rod' is a thin, flexible strip of metal that has a fixed base and that is held at the other end by an industrial robot. We show an example in which a path of the robot that was planned by our algorithm causes the metal strip to move between given start and goal configurations while remaining in quasi-static equilibrium.

Original languageEnglish (US)
Title of host publication2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
Pages5420-5427
Number of pages8
DOIs
StatePublished - Dec 1 2012
Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal
Duration: Oct 7 2012Oct 12 2012

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
CountryPortugal
CityVilamoura, Algarve
Period10/7/1210/12/12

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Matthews, D., & Bretl, T. W. (2012). Experiments in quasi-static manipulation of a planar elastic rod. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012 (pp. 5420-5427). [6385876] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2012.6385876