New model-based manipulation technique for reshaping deformable linear objects

In this article, we consider the problem of reshaping a deformable linear object (DLO) like wires, cables, ropes, and surgical sutures. The solution to would be useful for many fields, especially industrial manufacturing, where DLO manipulation is still frequently carried out by human workers. work, new model-based technique addressed employing sequence grasping releasing primitives performed single-armed robot equipped with gripper. A decision process selects optimal point exploiting an error minimization approach chooses related point. This performs spline interpolation between values obtained from candidate points that owns minimum error. multivariate dynamic model exploited selecting predicting behavior during process. Because its advantages over other integration methods, symplectic integrator utilized iteratively solving model. Simulation results lying on table are presented evaluate proposed technique. These illustrate intermediate deformation steps which lead starting state desired one. They demonstrate our can efficiently manipulate into various shapes in few steps.