Titlebook: Robot Manipulation of Deformable Objects; Dominik Henrich,Heinz Wörn Book 2000 Springer-Verlag London Limited 2000 Transit.automation.cont

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Manipulation of Sheet Metal by Dual Manipulatorsthe sheet and its environment. The proposed control algorithm designed so that the apparent impedance of the manipulated sheet is specified. The experimental results using industrial robots illustrate the validity of the proposed control system.

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Energy-Based Modeling of Deformable Linear Objectsl energy under the geometric constraints. This conditional variation problem is solved by parametrization and nonlinear programming. Finally, computational results and experimental results demonstrate the effectiveness of the energy-based approach.

分解

Indirect Simultaneous Positioning of Extensible Deformable Objectsy including friction, hysteresis, and parameter variation. To overcome this problem, I will propose a robust control strategy based on a coarse model of deformable objects. I will build a coarse model of an object for its positioning and will develop a control method robust to the discrepancy betwee

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A Hybrid Position/Force Approach to the Exploitation of Elasticity in Manipulationstrate the application of the method to de facto benchmark problems in the area of the manipulation of flexible materials. These case studies are the two-arm bending of sheet metal and the insertion of a slender, flexible beam into a hole with friction. The outcomes of the experiments show the simpl

言外之意

Force- and Vision-Based Detection of Contact State Transitionsor processing is an appropriate solution for our problem. Finally, we apply the concept of contact states and state transitions to the description of a typical assembly task. Experimental results show the feasibility of our approach: A robot performs several contact state transitions which can be co

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H. Wörnmuch that we do not understand about the process but this essay provides an analytical framework that does, I believe, highlight the problems that must be confronted in order to understand and improve economic performance. I first describe the intentional nature of human interaction in aworld of per