Real-time Contact State Estimation in Shape Control of Deformable Linear Objects under Small Environmental Constraints

Controlling the shape of deformable linear objects using robots and constraints provided by environmental fixtures has diverse industrial applications. In order to establish robust contacts with these fixtures, accurate estimation of the contact state is essential for preventing and rectifying poten...

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Veröffentlicht in:	arXiv.org 2024-01
Hauptverfasser:	Chen, Kejia, Zhenshan Bing, Wu, Yansong, Wu, Fan, Zhang, Liding, Haddadin, Sami, Knoll, Alois
Format:	Artikel
Sprache:	eng
Schlagworte:	Adaptive control Anomalies Contact force Deformation Fixtures Formability Industrial applications Real time Robot control Shape control State estimation
Online-Zugang:	Volltext
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