Dynamic Analysis of Linear Object Deformation and Its Application to Manipulation Planning

A dynamic motion analysis of deformable linear objects is presented. In manufacturing, evaluation of the shape of deformable objects is important for planning of their manipulation. Especially, if deformable objects are operated quickly, the dynamical effect of them cannot be neglected when we evaluate their shapes. In this paper, we analyse dynamic deformation of deformable linear objects. Firstly, a geometric representation of the shape of a linear object is introduced and its potential energy and kinetic energy are formulated. Then, its equations of motion can be derived based on Hamilton's principle. Secondly, a procedure to compute the shape is developed. By using it, an numerical example is presented. Thirdly, the validity of our method is demonstrated with a measuring experiment. Finally, it is shown that our method can be applied to manipulation planning utilizing dynamic deformation of a linear object. 1