An efficient approach to closed-loop shape control of deformable objects using finite element models

被引:21
作者
Koessler, A. [1 ]
Filella, N. Roca [1 ]
Bouzgarrou, B. C. [1 ]
Lequievre, L. [1 ]
Corrales Ramon, J-A [2 ]
机构
[1] Univ Clermont Auvergne, Inst Pascal, CNRS, Clermont Auvergne INP, F-63000 Clermont Ferrand, France
[2] Univ Santiago de Compostela, Ctr Singular Invest Tecnoloxias Intelixentes CiTI, Santiago De Compostela 15782, Spain
来源
2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2021) | 2021年
关键词
MANIPULATION;
D O I
10.1109/ICRA48506.2021.9560919
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
Robots are nowadays faced with the challenge of handling deformable objects in industrial operations. In particular, the problem of shape control, which aims at giving a specific deformation state to an object, has gained interest recently in the research community. Among the proposed solutions, approaches based on finite elements proved accurate and reliable but also complex and computationally-intensive. In order to mitigate these drawbacks, we propose a scheme for shape control that does not require to run a real-time simulation or to solve an implicit optimization problem for computing the control outputs. It is based on a partition of the nodal coordinates that allows deriving a control law directly from tangent stiffness matrices. This formulation is also coupled with the introduction of reduced finite element models. Simulation and experimental results in the context of linear deformable object manipulation demonstrate the interest of the proposed approach.
引用
收藏
页码:1637 / 1643
页数:7
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