Model-Based Robotic Manipulation of Thin Objects: Strategies for High-Precision Placement
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| Yayımlandı: | PQDT - Global (2025) |
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| Yazar: | |
| Baskı/Yayın Bilgisi: |
ProQuest Dissertations & Theses
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| Konular: | |
| Online Erişim: | Citation/Abstract Full Text - PDF Full text outside of ProQuest |
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| 045 | 2 | |b d20250101 |b d20251231 | |
| 084 | |a 189128 |2 nlm | ||
| 100 | 1 | |a Dai, Zhenjiu | |
| 245 | 1 | |a Model-Based Robotic Manipulation of Thin Objects: Strategies for High-Precision Placement | |
| 260 | |b ProQuest Dissertations & Theses |c 2025 | ||
| 513 | |a Dissertation/Thesis | ||
| 520 | 3 | |a Robotic object placement constitutes a critical component of pick-and-place operation. While significant advancements have been made in grasp planning and object acquisition strategies, the subsequent phase of safely depositing objects - particularly those with thin profiles or complex material properties - remains an open research problem. This dissertation bridges this gap by introducing model-based manipulation frameworks tailored for the precise placement of thin-rigid and deformable linear objects (DLOs), addressing both theoretical and practical challenges in robotic manipulation.First, we present a closed-loop system designed for handling thin-rigid objects, which are prone to damage during placement due to their mechanical brittleness. The system integrates vision-based tactile sensors with pixel-level resolution and soft-contact capabilities, enabling real-time perception of interaction dynamics. A motion controller processes this sensory feedback to execute optimized in-hand rotation and sliding maneuvers, ensuring stable and damagefree placement on target surfaces. Second, we develop an open-loop framework for deformable linear objects, where the primary challenge lies in controlling infinite-degree-of-freedom systems with limited actuation points. Our method analytically relates object deformation to boundary constraint forces, enabling global shape control via a single grasp point. This approach achieves curvature matching with target surfaces without requiring full-state feedback.The proposed techniques are object-agnostic and dimensionally scalable. Real-world experimental validation confirms their efficacy and robustness across industrial and domestic applications, diverse object classes, and varying environmental conditions. | |
| 653 | |a Kinematics | ||
| 653 | |a Control algorithms | ||
| 653 | |a Adaptability | ||
| 653 | |a Planning | ||
| 653 | |a Systems design | ||
| 653 | |a Robots | ||
| 653 | |a Data processing | ||
| 653 | |a Physical properties | ||
| 653 | |a Geometry | ||
| 653 | |a Advanced materials | ||
| 653 | |a Robotics | ||
| 653 | |a Aerospace engineering | ||
| 653 | |a Mechanical engineering | ||
| 773 | 0 | |t PQDT - Global |g (2025) | |
| 786 | 0 | |d ProQuest |t ProQuest Dissertations & Theses Global | |
| 856 | 4 | 1 | |3 Citation/Abstract |u https://www.proquest.com/docview/3273641178/abstract/embedded/6A8EOT78XXH2IG52?source=fedsrch |
| 856 | 4 | 0 | |3 Full Text - PDF |u https://www.proquest.com/docview/3273641178/fulltextPDF/embedded/6A8EOT78XXH2IG52?source=fedsrch |
| 856 | 4 | 0 | |3 Full text outside of ProQuest |u https://doi.org/10.14711/thesis-hdl152549 |