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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
- 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