Robotic Manipulation of Deformable Linear Objects: Modelling and Simulation

Wang, Zhifeng (2020) Robotic Manipulation of Deformable Linear Objects: Modelling and Simulation. [Laurea magistrale], Università di Bologna, Corso di Studio in Automation engineering / ingegneria dell’automazione [LM-DM270], Documento full-text non disponibile
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With the development of materials science, deformable material objects are used in more andmore fields. Handling of deformable soft objects can be found in many industrial fields includingfood industry and recycle industry. But deformable objects are different from rigid objects. Thereis still room for development of material control, in which the use of computers to simulate controlplays an important role. In this thesis, a physical model of the cable is established based ongeometrically exact dynamic splines, and the simulink of matlab is used to develop the model ofthe cable to establish a control system. Under the action of this control system, the cable can reacha designated position and form the desired shape through a series of operations from the defaultposition and the straight starting state. In this process, the cable will contact the establishedobstacle model and will be affected by the interaction force provided by the obstacle model.At theend of the thesis, the simulation results are analyzed.

Tipologia del documento
Tesi di laurea (Laurea magistrale)
Autore della tesi
Wang, Zhifeng
Relatore della tesi
Corso di studio
Ordinamento Cds
Parole chiave
Robotic Manipulation,Deformable linear objects,Matlab Simulation,Geometrically exact dynamic splines
Data di discussione della Tesi
9 Ottobre 2020

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