Collision-free transport of 2D deformable objects

Herguedas, Rafael (Universidad de Zaragoza) ; Lopez-Nicolas, Gonzalo (Universidad de Zaragoza) ; Sagues, Carlos (Universidad de Zaragoza)

Resumen: In this paper, we propose a novel system to transport 2D cloth-like deformable objects with mobile manipulators and without collisions along a known path. First, a new deformation model that allows for real-time shape prediction, based on the paradigm of deformable bounding box, is presented. Then, observability index maximization is applied to obtain the model parameters with a reduced number of measurements. The transport task is next defined as an optimization problem that incorporates the computed model and the transport route. A set of linear and nonlinear constraints allows to limit the object's deformations and rotations and to avoid obstacles, respectively. Simulation results are reported to demonstrate the validity of our method

Idioma: Inglés

DOI: 10.23919/ICCAS52745.2021.9650027

Año: 2021

Publicado en: International Conference on Control, Automation and Systems 21 (2021)
ISSN: 1598-7833

Tipo y forma: Comunicación congreso (PostPrint)

Área (Departamento): Área Ingen.Sistemas y Automát. (Dpto. Informát.Ingenie.Sistms.)