2A2-G07 高速ロボットアームを用いた線状柔軟物体のダイナミックマニピュレーション  [in Japanese] 2A2-G07 Dynamic Manipulation of a Linear Flexible Object by a High-speed Robot Arm  [in Japanese]

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Abstract

This paper explains the dynamic manipulation of a linear flexible object with a high-speed robot arm. As an example of the dynamic manipulation, we perform the dynamic knotting of a flexible rope. First, the dynamic knotting by human is analyzed in order to extract the arm motion. Then, the arm motion is implemented to the robot arm. From the experimental result, the rope behavior during the high-speed dynamic manipulation can be approximated by the robot arm motion. Namely, it can be considered that the rope dynamics depend on the robot dynamics. According to this discussion, we construct a novel and simple rope dynamics. Finally, we show the simulation result based on the constructed model.

Journal

  • The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2009(0), _2A2-G07_1-_2A2-G07_4, 2009

    The Japan Society of Mechanical Engineers

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