发表机构
Delft University of Technology; German Aerospace Center (DLR)（代尔夫特理工大学; 德国航空航天中心）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对线性可变形物体操控中忽略动力学的问题，提出一种基于全动态模型和SE(3)驱动坐标的闭环控制架构，通过多点多力调节实现形状稳定，仿真与实验验证了有效性。
AI 中文摘要
大多数关于可变形物体操控的研究集中于机械响应可忽略的轻量级系统，实际上将注意力限制在准静态范围内。这一假设排除了一类广泛的实际相关物体，如软管、管道和线束，这些物体在操控过程中的动力学不可忽略。在本工作中，我们通过引入一种显式考虑物体动力学的闭环控制架构来解决这一局限性，并将操控重新表述为形状调节问题。控制通过调节沿物体多个固定点施加的力和力矩来实现。该方法基于三个方法论贡献：基于离散应变参数化的线性可变形物体全动态模型；将驱动坐标的概念扩展到SE(3)，产生结构化的固有欠驱动控制架构；以及提供稳态收敛到期望配置的显式条件的非线性反馈策略。在代表性操控任务上的广泛仿真证明了所提出的基于模型公式的性能提升。最后，我们通过具有在线形状估计的实时闭环实现实验验证了该方法，确认了其实用可行性和有效性。
英文摘要
Most research on the manipulation of deformable objects focuses on lightweight systems with negligible mechanical response, effectively restricting attention to quasi-static regimes. This assumption excludes a broad class of practically relevant objects, such as hoses, pipes, and wiring harnesses, whose dynamics cannot be ignored during manipulation. In this work, we address this limitation by introducing a closed-loop control architecture that explicitly accounts for object dynamics and recasts manipulation as a shape-regulation problem. Control is achieved by modulating forces and torques applied at multiple fixed points along the object. This approach builds on three methodological contributions: a fully dynamic model of linear deformable objects based on discrete strain parameterizations; an extension of the notion of actuation coordinates to SE(3), yielding a structured and inherently underactuated control architecture; and nonlinear feedback strategies providing explicit conditions for steady-state convergence to desired configurations. Extensive simulations on representative manipulation tasks demonstrate the performance gains enabled by the proposed modelbased formulation. We finally validate the approach experimentally through a real-time closed-loop implementation with online shape estimation, confirming its practical feasibility and effectiveness
Comments19 pages, 13 figures
