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New model-based manipulation technique for reshaping deformable linear objects

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Abstract

In this article, we consider the problem of reshaping a deformable linear object (DLO) like wires, cables, ropes, and surgical sutures. The solution to this problem would be useful for many fields, especially industrial manufacturing, where the DLO manipulation is still frequently carried out by human workers. In this work, a new model-based manipulation technique for reshaping a DLO is addressed employing a sequence of grasping and releasing primitives performed by a single-armed robot equipped with a gripper. A decision process selects the optimal grasping point exploiting an error minimization approach and chooses the related releasing point. This decision process performs a spline interpolation between the error values obtained from candidate grasping points and chooses the optimal point that owns a minimum error. The multivariate dynamic spline model of the DLO is exploited for selecting the optimal grasping point and predicting the DLO behavior during the manipulation process. Because of its advantages over other integration methods, the symplectic integrator is utilized for iteratively solving the DLO dynamic model. Simulation results of reshaping a DLO lying on a table are presented to evaluate the proposed technique. These results illustrate the intermediate deformation steps which lead the DLO from its starting state to the desired one. They demonstrate that our proposed technique can efficiently manipulate the DLO into various shapes in few steps.

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Availability of data and materials

The data presented here are available upon request (email: alaakhalifa64@gmail.com).

Change history

  • 03 October 2021

    Springer Nature’s version of this paper was updated to present the updated Reference 16

Notes

  1. https://www.dropbox.com/s/uvhaxd0u4r5w8su/video_for_spline_4_motions.avi?dl=0

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Acknowledgements

This work was supported by the European Commissions Horizon 2020 Framework Programme with the project REMODEL - Robotic technologies for the manipulation of complex deformable linear objects - under grant agreement no. 870133.

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Authors and Affiliations

  1. Department of Electrical, Electronic and Information Engineering, University of Bologna, Bologna, Italy

    Alaa Khalifa & Gianluca Palli

  2. Department of Industrial Electronics and Control Engineering, Faculty of Electronic Engineering, Menoufia University, Menouf, Egypt

    Alaa Khalifa

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  1. Alaa Khalifa
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  2. Gianluca Palli
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The two authors have equally contributed to this work.

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Correspondence to Alaa Khalifa.

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Khalifa, A., Palli, G. New model-based manipulation technique for reshaping deformable linear objects. Int J Adv Manuf Technol 118, 3575–3583 (2022). https://doi.org/10.1007/s00170-021-08107-x

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