Path Planning for Belt Object Manipulation

被引：0
|
作者：
Wakamatsu, Hidefumi [1 ]
Morinaga, Eiji [1 ]
Arai, Eiji [1 ]
Hirai, Shinichi
机构：
[1] Osaka Univ, Dept Mat & Mfg Sci, Suita, Osaka 5650871, Japan
来源：
2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2012年
关键词：
DEFORMABLE LINEAR OBJECTS;
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：
A method to generate an appropriate path for manipulation of a belt object is proposed. It is important for automatic manipulation of a belt object such as a film/flexible circuit board to generate an appropriate path for a manipulator because such object is flexible in a certain direction but fragile in another direction and an inappropriate path which causes deformation in the fragile direction may lead to wiring disconnection. First, deformation of a rectangular belt object is modeled considering its bending and torsional deformation under the force of gravity. Next, a method to generate a path for belt object manipulation with quasi-static and non-excessive deformation is proposed. After that, deformation and loaded condition in the path generated by our proposed method and those in a common path based on linear interpolation are compared. Finally, the validity of our proposed method is verified by measuring the deformed shape of a polyethylene sheet during manipulation with the generated path.
引用
收藏
页码：4334 / 4339
页数：6
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