用质点-弹簧-阻尼模型模拟绳索，测试仿真中参数变化对机器人抓线效果的影响。
Performance Analysis of a Mass-Spring-Damper Deformable Linear Object Model in Robotic Simulation Frameworks
- 采用质点-弹簧-阻尼模型建模绳索类柔性物体。
- 在Isaac Sim和Gazebo中验证了随机化参数对力数据生成的有效性。
- 适合做机器人抓取绳索等任务的仿真训练，可提升泛化能力。
绳索、电线和细线等柔性线状物体（DLOs）因其柔性和可变形特性，在机器人仿真中建模极具挑战性。准确模拟其动态行为对自动化线缆处理与装配任务至关重要。本研究通过领域随机化（DR）收集力数据，以训练机器人在仿真环境中的操作能力，使用质点-弹簧-阻尼（MSD）系统作为参考模型。研究旨在评估模型参数变化对DLO动力学的影响，并在Isaac Sim和Gazebo中验证了该技术在此类场景下的适用性。
原文摘要 · Abstract (English)
The modelling of Deformable Linear Objects (DLOs) such as cables, wires, and strings presents significant challenges due to their flexible and deformable nature. In robotics, accurately simulating the dynamic behavior of DLOs is essential for automating tasks like wire handling and assembly. The presented study is a preliminary analysis aimed at force data collection through domain randomization (DR) for training a robot in simulation, using a Mass-Spring-Damper (MSD) system as the reference model. The study aims to assess the impact of model parameter variations on DLO dynamics, using Isaac Sim and Gazebo to validate the applicability of DR technique in these scenarios.
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