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This book is about automatic handling of non-rigid or deformable objects like cables, fabric, or foam rubber. The automation by robots in industrial environments, is especially examined. It discusses several important automation aspects, such as material modelling and simulation, planning and control strategies, collaborative systems, and industrial applications. This book collects contributions from various countries and international projects and, therefore, provides a representative overview of the state of the art in this field. It is of particular interest for scientists and practitioners in the area of robotics and automation
List of contents
1: Introduction.- 1.1 Motivation.- 1.2 About this Book.- 2: Material Modeling and Simulation.- 2.1 Energy-Based Modeling of Deformable Linear Objects.- 2.2 Discrete Element Approach for Non-Rigid Material Modeling.- 2.3 Direct and Inverse Simulation of Deformable Linear Objects.- 3: Planning and Control Strategies.- 3.1 Indirect Simultaneous Positioning of Extensible Deformable Objects.- 3.2 A Hybrid Position/Force Approach to the Exploitation of Elasticity in Manipulation.- 3.3 Force- and Vision-Based Detection of Contact State Transitions.- 3.4 Automated Sewing System and Unfolding Fabric.- 4: Collaborative Systems.- 4.1 Manipulation of Sheet Metal by Dual Manipulators.- 4.2 A Manipulated Deformable Object as an Underactuated Mechanical System.- 5: Applications and Industrial Experiences.- 5.1 Simulation of Non-Rigid Materials Handling.- 5.2 Robotics for Deheading White Fish.- 5.3 Application of LLW Robots to Distribution Lines.- 5.4 Flexible Automatic Wiring of Long-Tube Lighting and Service Cabinet Modules.
About the author
Heinz Wörn ist seit 1997 Professor für Komplexe Systeme in Automation und Robotik. Seine Hauptforschungsrichtungen sind Echtzeit- und Automatisierungstechnik im Bereich Fabrikautomation und Robotik und Medizintechnik. Prof. Wörn hält an der Universität Karlsruhe für Informatiker und Ingenieure die Vorlesungen Echtzeitsysteme", "Steuerungstechnik für Roboter", Steuerungstechnik für Werkzeugmaschinen" und Einführung in die Informatik für Naturwissenschaftler und Ingenieure".
