2A1-K05 ロボットアームの高速運動を用いた紐の変形制御(フレキシブルロボット・メカニズム)  [in Japanese] 2A1-K05 Rope Deformation Control using a High-speed Motion of a Robot Arm(Flexible Robot/Mechanism and its Control)  [in Japanese]

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Abstract

In this paper, we explain a simple model and a deformation control of a linear flexible object with a high-speed robot arm. First, we propose the simple deformation model of a flexible rope using a high-speed robot motion. Then, we perform a theoretical analysis of the rope deformation model. And, we obtain a motion condition of the high-speed robot arm based on the theoretical analysis. Next, we show experimental results of the rope deformation control using the motion condition. Finally, we show the dynamic knotting of the flexible rope as an example of the rope deformation control.

Journal

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

    The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2011(0), _2A1-K05_1-_2A1-K05_4, 2011

    The Japan Society of Mechanical Engineers

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