Robot-based manipulation of deformable linear objects (RODEO)

Abstract: This research project investigates the programming of robots manipulating flexible one-dimensional workpieces, like cables, hoses, cords, examines lines, rope, bars etc.. The main problems are the changing workpiece shape due to gravity and contact forces and the hardly influenceable inherent indulgence and tolerances of the workpiece. For solving this task, two approaches are pursued and combined: On the one hand, a programming method is developed based on a library of sensor-based unit operations. The unit operations implement transitions in a complete contact state model and can therefore be reused for different application domains. On the other hand, this programming method is supported by physical modelling of the workpiece. With this, the workpiece shape and movement can be calculated either from the gripper movement or in reverse.