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Robot Manipulation of Deformable Objects

  • Book
  • © 2000

Overview

Editors:
  1. Dominik Henrich

    1. Embedded Systems and Robotics (RESY), Informatics Faculty, University of Kaiserslautern, Kaiserslautern, Germany

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  2. Heinz Wörn

    1. Institut für Prozessrechentechnik, Automation und Robotik (IPR), Universität Karlsruhe (TH), Karlsruhe, Germany

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  • First English language book on this subject
  • Encompasses up to the minute international research

Part of the book series: Advanced Manufacturing (ADVMANUF)

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Table of contents (15 chapters)

  1. Front Matter

    Pages I-VIII
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  2. Introduction

    1. Front Matter

      Pages 1-1
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    2. Motivation

      • H. Wörn
      Pages 3-5

    3. About this Book

      • D. Henrich
      Pages 7-8

  3. Material Modeling and Simulation

    1. Front Matter

      Pages 9-9
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    2. Energy-Based Modeling of Deformable Linear Objects

      • S. Hirai
      Pages 11-27

    3. Discrete Element Approach for Non-Rigid Material Modeling

      • G. Frugoli, A. Galimberti, C. Rizzi, M. Bordegoni
      Pages 29-41

    4. Direct and Inverse Simulation of Deformable Linear Objects

      • A. Remde, D. Henrich
      Pages 43-70

  5. Collaborative Systems

    1. Front Matter

      Pages 159-159
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    2. Manipulation of Sheet Metal by Dual Manipulators

      • H. Yoshida, K. Kosuge
      Pages 161-174

    3. A Manipulated Deformable Object as an Underactuated Mechanical System

      • H. G. Tanner, K. J. Kyriakopoulos
      Pages 175-196

  6. Applications and Industrial Experiences

    1. Front Matter

      Pages 197-197
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    2. Simulation of Non-Rigid Materials Handling

      • C. Rizzi, M. Bordegoni, G. Frugoli
      Pages 199-210

    3. Robotics for Deheading White Fish

      • R. Buckingham, A. Graham
      Pages 211-235

    4. Application of LLW Robots to Distribution Lines

      • Y. Maruyama
      Pages 237-253
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Keywords

About this book

This book is about automatic handling of non-rigid or deformable objects like cables, fabric, or foam rubber. The automation by robots in industrial environments, is especially examined. It discusses several important automation aspects, such as material modelling and simulation, planning and control strategies, collaborative systems, and industrial applications. This book collects contributions from various countries and international projects and, therefore, provides a representative overview of the state of the art in this field. It is of particular interest for scientists and practitioners in the area of robotics and automation

Editors and Affiliations

  • Embedded Systems and Robotics (RESY), Informatics Faculty, University of Kaiserslautern, Kaiserslautern, Germany

    Dominik Henrich

  • Institut für Prozessrechentechnik, Automation und Robotik (IPR), Universität Karlsruhe (TH), Karlsruhe, Germany

    Heinz Wörn

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