Symplectic Integration for Multivariate Dynamic Spline-Based Model of Deformable Linear Objects

Abstract Deformable Linear Objects (DLOs) such as ropes, cables, and surgical sutures have a wide variety of uses in automotive engineering, surgery, electromechanical industries. Therefore, modeling DLOs well computationally efficient way to predict the DLO behavior are great importance, particular enable robotic manipulation DLOs. The main motivation this work is pre- diction during manipulation. In paper, modeled by multivariate dynamic spline, while symplectic integration method used solve model iteratively interpolating shape process. Comparisons between symplectic, Runge-Kutta Zhai integrators reported. presented results show capabilities integrator overcome other methods predicting behavior. Moreover, obtained with different sets parameters integrated means reported how they influence estimation.