Physically based real-time interactive assembly simulation of cable harness

Lv, Naijing; Liu, Jianhua; Ding, Xiaoyu; Liu, Jiashun; Lin, Haili; Ma, Jiangtao

doi:10.1016/j.jmsy.2017.02.001

Cited by 44 publications

(20 citation statements)

References 32 publications

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“…Many methods for the DLOs modeling are discussed previously. These methods include Mass-spring [20], Elastic rod [19], Multi-body [33], Finite element [9], Dynamic spline [36], and other methods. Lv, et al [21] produced a recent review paper that discussed the approach, advantages, and drawbacks of each DLO modeling method.…”

Section: Dlo Dynamic Modelmentioning

confidence: 99%

New model-based manipulation technique for reshaping deformable linear objects

Khalifa

Palli

2021

Int J Adv Manuf Technol

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Section: Dlo Dynamic Modelmentioning

confidence: 99%

New model-based manipulation technique for reshaping deformable linear objects

Khalifa

Palli

2021

Int J Adv Manuf Technol

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“…Loock and Schömer [9] split a cable into stiff segments and used torsion springs in addition to linear and bending springs for connections between the segments. Lv et al [10] applied physical models of cable harnesses with a linear spring for elongation, a bending spring for bending, and torsion springs for geometric and material torsion. A position-based dynamic framework has been proposed to increase the simulation speed 2 and stabilize collision detection between rigid bodies [11] and implemented in physics engines such as Bullet, Havok [12,13], and PhysX [14].…”

Section: Introductionmentioning

confidence: 99%

Efficient Cable Path Optimization Based on Critical Robot Poses for Industrial Robot Arms

et al. 2022

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Although industrial robotic arms are equipped with external cables to supply electricity, gases or other materials, cable path design is a difficult and demanding task. Herein, an efficient optimization method is proposed for automating cable path design under the assumption that the robot motion path is known. The contribution of this study was to reduce the considerable computation time required for the optimization, which was a concern in our previous work. The previous method represented candidates for cable paths as a set of parameter vectors (PVs) that included cable length and guide configurations, and then selected the optimal PV that satisfies stress constraints and provided the shortest cable path. The proposed method extracted critical poses, i.e., several static robot poses that are prone to applying stress to the cable, from the joint angle time series of the motion path, and then performed attachment and motion tests. The cable geometry for the static critical poses was simulated in the attachment test, while the geometry for dynamic robot motion was simulated in the motion test in an ascending order of the cable length among the PV candidates. Experimental results showed that the computation time for cable path optimization could be significantly reduced.

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“…[maryamb, sschaal]@intrinsic.ai representations range from spring-mass models [5] to linear combination of curves [6], [7], and fixed-length segments [8].…”

Section: Introductionmentioning

confidence: 99%

Efficient Spatial Representation and Routing of Deformable One-Dimensional Objects for Manipulation

Keipour¹,

Bandari²,

Schaal³

2022

Preprint

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With the field of rigid-body robotics having matured in the last fifty years, routing, planning, and manipulation of deformable objects have emerged in recent years as a more untouched research area in many fields ranging from surgical robotics to industrial assembly and construction. Routing approaches for deformable objects which rely on learned implicit spatial representations (e.g., Learning-from-Demonstration methods) make them vulnerable to changes in the environment and the specific setup. On the other hand, algorithms that entirely separate the spatial representation of the deformable object from the routing and manipulation, often using a representation approach independent of planning, result in slow planning in high dimensional space.This paper proposes a novel approach to spatial representation combined with route planning that allows efficient routing of deformable one-dimensional objects (e.g., wires, cables, ropes, threads). The spatial representation is based on the geometrical decomposition of the space into convex subspaces, which allows an efficient coding of the configuration. Having such a configuration, the routing problem can be solved using a dynamic programming matching method with a quadratic time and space complexity. The proposed method couples the routing and efficient configuration for improved planning time. Our tests and experiments show the method correctly computing the next manipulation action in sub-millisecond time and accomplishing various routing and manipulation tasks.

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Physically based real-time interactive assembly simulation of cable harness

Cited by 44 publications

References 32 publications

New model-based manipulation technique for reshaping deformable linear objects

New model-based manipulation technique for reshaping deformable linear objects

Efficient Cable Path Optimization Based on Critical Robot Poses for Industrial Robot Arms

Efficient Spatial Representation and Routing of Deformable One-Dimensional Objects for Manipulation

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