Vibration Suppression of Deformable Linear Object Based on Vision Feedback

Deformable Linear Objects, such as hose and cable, are widely used in daily life and industrial applications. Problems in robotic operation and precise control of DLOs, have limited the progression of automation in the electronics industry and automotive industry. In this chapter, we propose an approach based on robot vision to suppress the vibration of a DLO, by means of real-time image processing of high-speed visual feedback to obtain the geometric coordinates and posture of the DLO. A PID controller verifies the validity of the theory along with the expected posture of the DLO. The effectiveness of the proposed strategy is confirmed by experiment. Results show that the proposed method can damp vibrations effectively.

[1]  Dominik Henrich,et al.  Manipulating Deformable Linear Objects: Fuzzy-Based Active Vibration Damping Skill , 2006, J. Intell. Robotic Syst..

[2]  Hidefumi Wakamatsu,et al.  Dynamic Modeling of Linear Object Deformation based on Differential Geometry Coordinates , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[3]  Zhao-Hui Jiang.  Vision-based Cartesian space motion control for flexible robotic manipulators , 2008, Int. J. Model. Identif. Control..

[4]  Shaocheng Qu,et al.  A small intelligent car system based on fuzzy control and CCD camera , 2012, Int. J. Model. Identif. Control..

[5]  Akira Inoue,et al.  Adaptive vibration control of piezoelectric actuator based flexible arm with unknown and unmeasurable disturbances , 2009, Int. J. Model. Identif. Control..

[6]  T. Fukuda,et al.  Dynamic modeling and simulation of manipulating deformable linear objects , 2008, 2008 IEEE International Conference on Mechatronics and Automation.

[7]  Dominik Henrich,et al.  Manipulating deformable linear objects: Attachable adjustment-motions for vibration reduction , 2001, J. Field Robotics.

[8]  Y. Fung.  Foundations of solid mechanics , 1965 .

[9]  Shinichi Hirai,et al.  Energy-Based Modeling of Deformable Linear Objects , 2000 .

[10]  Dominik Henrich,et al.  Manipulating Deformable Linear Objects: Model-Based Adjustment-Motion for Vibration Reduction , 2001 .

[11]  Jian Huang,et al.  Vibration damping in manipulation of deformable linear objects using sliding mode control , 2012, Proceedings of the 31st Chinese Control Conference.

[12]  Dominik Henrich,et al.  Manipulating deformable linear objects: Sensor-based skills of adjustment motions for vibration reduction , 2005, J. Field Robotics.