用数学模型精准控制柔性绳状物在平面内移动，避免缠绕和碰撞。
Steering Flexible Linear Objects in Planar Environments by Two Robot Hands Using Euler's Elastica Solutions
- 基于欧拉弹性理论，通过调节抓握点位置实现柔性物体形状控制。
- 推导出防止自交、保持稳定和避障的闭式判据。
- 适用于机器人双臂操作电缆、绳索等柔性物体的场景。
机器人手抓取柔性物体（如电缆、电线和生鲜食品）在抓取力学中是一个特殊挑战。本文研究了在平面环境中由两个机械手操控柔性线状物体的转向问题。柔性线状物体被建模为不可拉伸的弹性杆，通过改变抓握端点位置并保持两端切线一致来实现操控。该物体的形状具有闭式解，称为欧拉弹性曲线。本文在最优控制框架下求得弹性曲线解，并据此推导出防止自交、保证稳定性以及避障的闭式判据。这些新工具被集成到一个面向稀疏障碍物平面环境的柔性物体导航规划方案中，已完整实现并用多个详细示例进行演示。
原文摘要 · Abstract (English)
The manipulation of flexible objects such as cables, wires and fresh food items by robot hands forms a special challenge in robot grasp mechanics. This paper considers the steering of flexible linear objects in planar environments by two robot hands. The flexible linear object, modeled as an elastic non-stretchable rod, is manipulated by varying the gripping endpoint positions while keeping equal endpoint tangents. The flexible linear object shape has a closed form solution in terms of the grasp endpoint positions and tangents, called Euler's elastica. This paper obtains the elastica solutions under the optimal control framework, then uses the elastica solutions to obtain closed-form criteria for non self-intersection, stability and obstacle avoidance of the flexible linear object. The new tools are incorporated into a planning scheme for steering flexible linear objects in planar environments populated by sparsely spaced obstacles. The scheme is fully implemented and demonstrated with detailed examples.
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