Interactive simulation of one-dimensional flexible parts
Computer-Aided Design
Geometrically exact dynamic splines
Computer-Aided Design
Kinematics for multisection continuum robots
IEEE Transactions on Robotics
Path planning for deformable linear objects
IEEE Transactions on Robotics
Linked multi-component mobile robots: Modeling, simulation and control
Robotics and Autonomous Systems
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The aim of this paper is to derive control strategies for a multi-robot system trying to move a flexible hose. We follow the approach of Geometric Exact Dynamic Splines to model the hose and its dynamics. The control problem is then stated as the problem of reaching a desired configuration of the spline control points from an initial configuration. The control of the hose by the multi-robot system is first solved neglecting the hose internal dynamics. We can derive the motion of the robot attachments that move that splines towards the desired configuration. Taking into account the dynamical model, we can derive the dynamic relations between the robots in the system and the motion of the hose towards the desired configuration.