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首页> 外文会议>2011 30th Chinese Control Conference >Three-dimensional modeling and simulation of manipulating deformable linear objects
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Three-dimensional modeling and simulation of manipulating deformable linear objects

机译：操纵可变形线性对象的三维建模和仿真

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Three-dimensional dynamic modeling and numerical simulation of manipulating deformable linear objects (DLOs) such as hoses, wire and cables are studied in this paper. Several coordinate systems are introduced first to describe the deformation of DLOs. The dynamic three-dimensional deformation of an inextensible linear object is formulated using finite element method (FEM) and lagrange motion equations. The proposed method provides more efficient simulation of dynamic manipulating DLOs with faster computation speed. Two simulation examples are illustrated to confirm the effectiveness of our methods. One is a comparison simulation study and the other shows the three-dimensional dynamic character of the DLO.
机译：研究了操纵软管，电线和电缆等可变形线性物体（DLO）的三维动态建模和数值模拟。首先介绍几种坐标系统来描述DLO的变形。使用有限元方法（FEM）和拉格朗日运动方程式，计算了不可拉伸线性物体的动态三维变形。所提出的方法以更快的计算速度提供了更有效的动态操纵DLO仿真。给出了两个仿真示例，以证实我们方法的有效性。一个是比较仿真研究，另一个是DLO的三维动态特性。

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