Simple Model and Deformation Control of a Flexible Rope using Constant, High-Speed Motion of a Robot Arm

被引：0

作者：

Yamakawa, Yuji ^{[1
]}

Namiki, Akio

Ishikawa, Masatoshi ^{[1
]}

机构：

[1] Univ Tokyo, Dept Creat Informat, Grad Sch Informat Sci & Technol, Bunkyo Ku, Tokyo 1138656, Japan

来源：

2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2012年

关键词：

MANIPULATION;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we propose an entirely new manipulation strategy for dynamic manipulation of a flexible rope with a high-speed robot arm. The manipulation strategy involves manipulating the object at a constant, high speed. Then, we can assume that the dynamic behavior of the flexible rope can be obtained by performing algebraic calculations of the robot motion using the proposed strategy. Based on this assumption, we derive a model of the flexible rope and suggest a motion planning method using the proposed model. Finally, we show experimental results of rope deformation control based on the proposed method.

引用

页码：2249 / 2254

页数：6

共 7 条

[1]

[Anonymous], 1984, P 1 INT S ROBOTICS R

[2]

[Anonymous], P IEEE INT C ROB AUT

[3]

Harada K., 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), P3887, DOI 10.1109/ROBOT.2000.845337

[4]

Lynch KM, 1999, INT J ROBOT RES, V18, P64

[5]

Matsuno T, 2001, IEEE ASME INT C ADV, P677, DOI 10.1109/AIM.2001.936748

[6]

Suzuki T, 2005, 2005 12th International Conference on Advanced Robotics, P64

[7] Motion Planning for Dynamic Knotting of a Flexible Rope with a High-speed Robot Arm [J].

Yamakawa, Yuji ;

Namiki, Akio ;

Ishikawa, Masatoshi .

IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010), 2010, :49-54

← 1 →