Manipulating Deformable Linear Objects: Force/torque Sensor-Based Adjustment-Motions For Vibration Elimination

1 Shigang YUE is a research fellow of the Alexander von Humboldt (AvH) Foundation from Beijing Polytechnic University. Abstract The vibration induced in a deformable object upon automatic handling by robot manipulators can often be bothersome. This paper presents a force/torque sensorbased method for handling deformable linear objects (DLOs) in a manner suitable to eliminate acute vibration. An adjustment-motion that can be attached to the end of an arbitrary end-effector’s trajectory is employed to eliminate vibration of deformable objects. Differently from modelbased methods, the presented sensor-based method does not employ any information from previous motions. The adjustment-motion is generated automatically by analyzing data from a force/torque sensor mounted on the robot’s wrist. Template matching technique is used to find out the matching point between the vibrational signal of the DLO and a template. Experiments are conducted to test the new method under various conditions. Results demonstrate the effectiveness of the sensor-based adjustment-motion.