The International Journal of Robotics Research Study, Ahead of Publish.
In this job, we recommend a vision-based and limited component technique (FEM)-based controller to automate the 3D shaping of soft items with dual-arm robotics. Our controller counts on a data-based strategy to discover just how the robotic’s activities cause things contortions, while additionally running FEM-based simulations to presume the form of the entire body. These model-based simulations are utilized to create preliminary form information, enabling to remove aesthetic attributes with a primary part evaluation and therefore approximate the communication matrix of the things– robotic system. On the other hand with many existing form servoing controllers, our brand-new model-based strategy constantly anticipates the things contortions created by the robotic, which are after that contrasted to the aesthetically observed contortion responses. This repetitive procedure allows to remedy the flawed mesh design prior to upgrading the communication matrix. To confirm this brand-new control technique, we offer an in-depth speculative research with a dual-arm robotic and various soft items, which showcases the efficiency of our automated shaping structure.
发布者：Celia Saghour，转转请注明出处：https://robotalks.cn/dual-arm-shaping-of-soft-objects-in-3d-based-on-visual-servoing-and-online-fem-simulations/
