Dynamic Modeling of Linear Object Deformation Considering Contact with Obstacles

— This paper describes the dynamic modeling of linear object deformation considering geometrical constraints and contact with obstacles. Deformable linear objects such as cables and strings are widely used in our daily life, some industries, and medical operations. Modeling, control, and manipulation of deformable linear objects are keys to many applications. We have formulated the static deformation of a linear object using the differential geometry coordinates. In this paper, we apply differential geometry coordinates to the dynamic modeling of linear objects. First, we formulate dynamic 2D deformation of an inextensible linear object based on a differential geometry coordinate system. Second, we consider dynamic deformation of the linear object when forces/moments and geometrical constraints are imposed on the object. Third, we model contact of a linear object with a circular obstacle. It can be applied to self-contact of the linear object. Finally, we show simulation results usin...

• Type: Conference
• Year: 2006
• Where: ICARCV
• Authors: Hidefumi Wakamatsu, Tatsuya Yamasaki, Shinichi Hirai, Akira Tsumaya, Eiji Arai
• Keywords: Deformable Linear Objects, ICARCV 2006, Linear Object, Linear Object Deformation