Deformation Modeling and Path Generation for Linear Object Manipulation

摘要

A systematic approach to the deformation modeling of linear objects such as cords or wires and the path generation for their manipulation is developed. First, a deformation modeling method of a linear object is proposed. Its shape can be represented by use of Eule-rian angles, and it is computed by minimizing the potential energy under geometric constraints. Secondly, a path generation method for linear object manipulation is proposed. We assume that the path on which the maximum potential energy of the object becomes minimum is most suitable for its manipulation. The optimal path can be derived by introducing the deformation path vector and computing it which minimizes the maximum potential energy during manipulation. Finally, the validity of these methods is demonstrated with a measuring experiment.