TY - GEN
T1 - Experiments in quasi-static manipulation of a planar elastic rod
AU - Matthews, Dennis
AU - Bretl, Timothy Wolfe
PY - 2012
Y1 - 2012
N2 - 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.
AB - 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.
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U2 - 10.1109/IROS.2012.6385876
DO - 10.1109/IROS.2012.6385876
M3 - Conference contribution
AN - SCOPUS:84872352826
SN - 9781467317375
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 5420
EP - 5427
BT - 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
T2 - 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
Y2 - 7 October 2012 through 12 October 2012
ER -