Dexterous Manipulation of a Rhythmic Gymnastics Ribbon with Constant, High-Speed Motion of a High-speed Manipulator

被引：0

作者：

Yamakawa, Yuji ^{[1
]}

Namiki, Akio ^{[2
]}

Ishikawa, Masatoshi ^{[1
]}

机构：

[1] Univ Tokyo, Dept Creat Informat, Grad Sch Informat Sci & Technol, Bunkyo Ku, 7-3-1 Hongo, Tokyo 1138656, Japan

[2] Chiba Univ, Grad Sch Engn, Dept Mech Engn, Chiba 2638522, Japan

来源：

2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2013年

关键词：

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：

In this paper, we propose an entirely new manipulation strategy for dynamic manipulation of a ribbon with a high-speed manipulator. The manipulation strategy involves manipulating the object at a constant, high speed. Then, we can assume that the dynamic behavior of the ribbon can be obtained by performing algebraic calculations of the robot motion using the proposed strategy. Based on this assumption, we derive a model of the ribbon and suggest a motion planning method using the proposed model. Finally, we show experimental results of shape control of a ribbon based on the proposed method.

引用

页码：1896 / 1901

页数：6

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