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Manipulating Deformable Linear Objects: Fuzzy-Based Active Vibration Damping Skill

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Abstract

Human can handle a deformable object and damp its vibration with recognized skill. However, for an industrial robot, handling a deformable object with acute vibration is often a difficult task. This paper addresses the problem of active damping skill for handling deformable linear objects (DLOs) by using a strategy inspired from human manipulation skills. The strategy is illustrated by several rules, which are explained by a fuzzy and a P controller. A proportional-integral-derivative (PID) controller is also employed to explain the rules as a comparison. The interpretations from controllers are translated into high level commands in a robotic language V+. A standard industrial robot with a force/torque sensor mounted on the wrist was employed to demonstrate the skill. Experimental results showed the fuzzy based damping skill is quite effective and stable even without any previous acknowledge of the deformable linear objects.

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Authors and Affiliations

  1. Ridley Building, School of Biology and Psychology, Faculty of Science, Agriculture and Engineering, University of Newcastle, NE1 7RU, Newcastle upon Tyne, UK

    Shigang Yue

  2. Robotics and Embedded Systems, Applied Computer Science III, University of Bayreuth, 95440, Bayreuth, Germany

    Dominik Henrich

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  1. Shigang Yue
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  2. Dominik Henrich
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Correspondence to Shigang Yue.

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Yue, S., Henrich, D. Manipulating Deformable Linear Objects: Fuzzy-Based Active Vibration Damping Skill. J Intell Robot Syst 46, 201–219 (2006). https://doi.org/10.1007/s10846-006-9049-1

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  • DOI: https://doi.org/10.1007/s10846-006-9049-1

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