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Robot Manipulation of Deformable Objects

✍ Scribed by H. Wârn (auth.), Professor Dominik Henrich, Professor Heinz Wârn (eds.)

Publisher
Springer-Verlag London
Year
2000
Tongue
English
Leaves
267
Series
Advanced Manufacturing
Edition
1
Category
Library
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✦ Synopsis

This book is about automatic handling of non-rigid or deformable objects like cables, fabric, or foam rubber. The automation by robots in industrial environments, is especially examined. It discusses several important automation aspects, such as material modelling and simulation, planning and control strategies, collaborative systems, and industrial applications. This book collects contributions from various countries and international projects and, therefore, provides a representative overview of the state of the art in this field. It is of particular interest for scientists and practitioners in the area of robotics and automation

✦ Table of Contents

Front Matter....Pages I-VIII
Front Matter....Pages 1-1
Motivation....Pages 3-5
About this Book....Pages 7-8
Front Matter....Pages 9-9
Energy-Based Modeling of Deformable Linear Objects....Pages 11-27
Discrete Element Approach for Non-Rigid Material Modeling....Pages 29-41
Direct and Inverse Simulation of Deformable Linear Objects....Pages 43-70
Front Matter....Pages 71-71
Indirect Simultaneous Positioning of Extensible Deformable Objects....Pages 73-89
A Hybrid Position/Force Approach to the Exploitation of Elasticity in Manipulation....Pages 91-109
Force- and Vision-Based Detection of Contact State Transitions....Pages 111-134
Automated Sewing System and Unfolding Fabric....Pages 135-158
Front Matter....Pages 159-159
Manipulation of Sheet Metal by Dual Manipulators....Pages 161-174
A Manipulated Deformable Object as an Underactuated Mechanical System....Pages 175-196
Front Matter....Pages 197-197
Simulation of Non-Rigid Materials Handling....Pages 199-210
Robotics for Deheading White Fish....Pages 211-235
Application of LLW Robots to Distribution Lines....Pages 237-253
Flexible Automatic Wiring of Long-Tube Lighting and Service Cabinet Modules....Pages 255-271

✦ Subjects

Manufacturing, Machines, Tools; Engineering Economics, Organization, Logistics, Marketing; Control, Robotics, Mechatronics; Document Preparation and Text Processing

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