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Dynamic Manipulation of a Cloth by High-speed Robot System using High-speed Visual Feedback

Dynamic Manipulation of a Cloth by High-speed Robot System using High-speed Visual Feedback

Authors :
Yamakawa, Yuji
Namiki, Akio
Ishikawa, Masatoshi
Source :
IFAC-PapersOnLine; January 2011, Vol. 44 Issue: 1 p8076-8081, 6p
Publication Year :
2011

Abstract

In this paper, we propose an entirely new strategy for dynamic manipulation of sheet-like flexible objects. As one example, we consider dynamic folding of a cloth by a high-speed robot system consisting of two high-speed multifingered hands mounted on two sliders and a high-speed vision system. First, the dynamic folding performed by a human subject is analyzed in order to extract the necessary motion for this task. Second, a model of a sheet-like flexible object is proposed by extending a linear flexible object model (algebraic equation) using high-speed motion. Third, motion planning of the robot system is performed by using the proposed model, and the simulation result of the dynamic folding is shown. Fourth, high-speed visual feedback control is proposed in order to enhance the manipulation strategy. Finally, experimental results of the dynamic folding of the cloth by the high-speed robot system are shown.

Details

Language :
English
ISSN :
24058963
Volume :
44
Issue :
1
Database :
Supplemental Index
Journal :
IFAC-PapersOnLine
Publication Type :
Periodical
Accession number :
ejs53634788
Full Text :
https://doi.org/10.3182/20110828-6-IT-1002.00596