Vibration damping for manipulating deformable linear object robotic operation based on fuzzy control

To meet the requirements for automatically manipulating deformable linear object (DLO), a vision-based vibration damping strategy for manipulating DLO was proposed. The method was inspired from human manipulation skills. By using a high-speed camera, the real-time moving image of DLO, and status of DLO by image processing algorithms can be captured. Based on the information in the end of DLO, a control strategy by using fuzzy controller was illustrated which drives the robot arm follow the movement of the end of DLO, and the energy of DLO died away. The effectiveness of the proposed strategy was confirmed by experiments. The results show that the proposed method can damp the vibration effectively.