Abstract
Handling flexible, one-dimensional objects like tubes, cables, strings or ropes usually requires to quickly predict the dynamic behavior of the object. Tasks of robotic arms manipulating flexible one-dimensional objects often take place on a workspace with a flat surface. Here, the dynamic behavior of the bending, flexible object is governed by friction between the object and the surface. In this paper, we formulate a model based on differential geometry that predicts the dynamic behavior of an elastic one-dimensional object on a 2D workspace with friction. Orientation and position of one end of the object are prescribed by the gripper movement. We present algorithmic and numeric optimizations of the computation and provide details on our parallel implementation which achieves real-time performance. We showcase different features of the model and validate the modeling approach by comparison with experiments.
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