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Nonlinear engineering and robotics
Vision-Based Robotic Comanipulation
for Deforming Cables
K. Almaghouta, A. Klimchikb a Robotics and Computer Vision Institute, Innopolis University,
ul. Universitetskaya 1, Innopolis, 420500 Russia
b School of Computer Science, University of Lincoln,
Brayford Pool, Lincoln LN6 7TS, United Kingdom
Abstract:
Although deformable linear objects (DLOs), such as cables, are widely used in the majority
of life fields and activities, the robotic manipulation of these objects is considerably more complex
compared to the rigid-body manipulation and still an open challenge. In this paper, we introduce
a new framework using two robotic arms cooperatively manipulating a DLO from an initial shape
to a desired one. Based on visual servoing and computer vision techniques, a perception approach
is proposed to detect and sample the DLO as a set of virtual feature points. Then a manipulation
planning approach is introduced to map between the motion of the manipulators end effectors and
the DLO points by a Jacobian matrix. To avoid excessive stretching of the DLO, the planning
approach generates a path for each DLO point forming profiles between the initial and desired
shapes. It is guaranteed that all these intershape profiles are reachable and maintain the cable
length constraint. The framework and the aforementioned approaches are validated in real-life
experiments.
Keywords:
robotic comanipulation, deformable linear objects, shape control, visual servoing.
Received: 15.09.2022 Accepted: 12.12.2022
Citation:
K. Almaghout, A. Klimchik, “Vision-Based Robotic Comanipulation
for Deforming Cables”, Rus. J. Nonlin. Dyn., 18:5 (2022), 843–858
Linking options:
https://www.mathnet.ru/eng/nd828 https://www.mathnet.ru/eng/nd/v18/i5/p843
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Abstract page: | 91 | Full-text PDF : | 62 | References: | 14 |
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