Manipulating Deformable Objects with a Dual-arm Robot

Stéphane Caro, Christine Chevallereau, Alberto Remus

2021

Abstract

Competition in all sectors requires companies to be increasingly flexible to market changes and the assembly industry is no exception. The impact of this work concerns aircraft production, as well as other fields. The main focus is on modelling and control techniques to carry out assembly tasks involving deformable parts, by exploiting a multi-robot system. Specifically, two robot arms are used to move a light and deformable part in order to adapt its shape for an assembly operation. A vision system is used, assisted by markers. Furthermore, the stability of the proposed controller is analyzed and experimental results are given.

Paper Citation

in Harvard Style

Caro S., Chevallereau C. and Remus A. (2021). Manipulating Deformable Objects with a Dual-arm Robot. In Proceedings of the 2nd International Conference on Robotics, Computer Vision and Intelligent Systems - Volume 1: ROBOVIS, ISBN 978-989-758-537-1, pages 48-56. DOI: 10.5220/0010707600003061

in Bibtex Style

@conference{robovis21,
author={Stéphane Caro and Christine Chevallereau and Alberto Remus},
title={Manipulating Deformable Objects with a Dual-arm Robot},
booktitle={Proceedings of the 2nd International Conference on Robotics, Computer Vision and Intelligent Systems - Volume 1: ROBOVIS,},
year={2021},
pages={48-56},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010707600003061},
isbn={978-989-758-537-1},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 2nd International Conference on Robotics, Computer Vision and Intelligent Systems - Volume 1: ROBOVIS,
TI - Manipulating Deformable Objects with a Dual-arm Robot
SN - 978-989-758-537-1
AU - Caro S.
AU - Chevallereau C.
AU - Remus A.
PY - 2021
SP - 48
EP - 56
DO - 10.5220/0010707600003061