Survey on model-based manipulation planning of deformable objects

Jiménez, Pablo

doi:10.1016/j.rcim.2011.08.002

Cited by 111 publications

(69 citation statements)

References 95 publications

(146 reference statements)

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“…Table 1 gives an overview of the previous works. A broader survey of model-based manipulation planning of deformable objects is given by Jiménez (2012). It can be concluded that there is currently no available methodology to optimally design end-effectors and motion planning for maximum productivity of material handling with compliant parts in multi-robot systems.…”

Section: Relevant Workmentioning

confidence: 99%

End-effector design optimisation and multi-robot motion planning for handling compliant parts

Glorieux

Franciosa

Ceglarek

2017

Struct Multidisc Optim

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The deformation of compliant parts during material handling is a critical issue that can significantly affect the productivity and the parts' dimensional quality. There are multiple relevant aspects to consider when designing end-effectors to handle compliant parts, e.g. motion planning, holding force, part deformations, collisions, etc. This paper focuses on multi-robot material handling systems where the end-effector designs influence the coordination of the robots to prevent that these collide in the shared workspace. A multi-disciplinary methodology for end-effector design optimisation and multi-robot motion planning for material handling of compliant parts is proposed. The novelty is the co-adaptive optimisation of the end-effectors' structure with the robot motion planning to obtain the highest productivity and to avoid excessive part deformations. Based on FEA, the dynamic deformations of the parts are modelled in order to consider these during the collision avoidance between the handled parts and obstacles. The proposed methodology is evaluated for a case study that considers the multi-robot material handling of sheet metal parts in a multi-stage tandem press line. The results show that a substantial improvement in productivity can be achieved (up to 1.9%). These also demonstrate the need and contribution of the proposed methodology.

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Section: Relevant Workmentioning

confidence: 99%

End-effector design optimisation and multi-robot motion planning for handling compliant parts

Glorieux

Franciosa

Ceglarek

2017

Struct Multidisc Optim

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“…Methods were proposed for motion planning for robotic manipulation and the assembly planning of deformable objects, such as ropes and wires [Saha and Isto 2006], sheets, and elastic volumes [Jiménez 2012]. These strategies are often defined for relatively simple polyhedral environments and do not extend directly to our case, in which we are facing the removal process of a tightly fitting elastic shell from an object with complex geometric features and topology.…”

Section: Mold Designmentioning

confidence: 99%

FlexMolds

et al. 2016

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We present FlexMolds, a novel computational approach to automatically design flexible, reusable molds that, once 3D printed, allow us to physically fabricate, by means of liquid casting, multiple copies of complex shapes with rich surface details and complex topology. The approach to design such flexible molds is based on a greedy bottom-up search of possible cuts over an object, evaluating for each possible cut the feasibility of the resulting mold. We use a dynamic simulation approach to evaluate candidate molds, providing a heuristic to generate forces that are able to open, detach, and remove a complex mold from the object it surrounds. We have tested the approach with a number of objects with nontrivial shapes and topologies.

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“…Other studies on knotting/unknotting manipulation have been performed [5], [6], [7]. Moreover, Jimenez has explored model-based manipulation planning of deformable objects [8].…”

Section: Robotic Manipulationmentioning

confidence: 99%

Dynamic High-Speed Knotting of a Rope by a Manipulator

Yamakawa

Namiki

Ishikawa

2013

International Journal of Advanced Robotic Systems

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In this paper we suggest an entirely new strategy for the dexterous manipulation of a linear flexible object, such as rope or a cable, with a high-speed manipulator. We deal with a flexible rope as one example of the linear flexible object. The strategy involves manipulating the object at highspeed. By moving the robot at high-speed, we can assume that the dynamic behaviour of the flexible rope can be obtained by performing algebraic calculations of the highspeed robot motion. Based on this assumption, we derive a dynamic deformation model of the flexible rope and confirm the validity of the proposed model. Then we perform a simulation of dynamic, high-speed knotting based on the proposed model. We also discuss the possibility of forming the knot based on a simple analysis model. Finally, we show experimental results demonstrating dynamic, high-speed knotting with a high-speed manipulator.

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Survey on model-based manipulation planning of deformable objects

Cited by 111 publications

References 95 publications

End-effector design optimisation and multi-robot motion planning for handling compliant parts

End-effector design optimisation and multi-robot motion planning for handling compliant parts

FlexMolds

Dynamic High-Speed Knotting of a Rope by a Manipulator

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