Casting and winding manipulation with hyper-flexible manipulator

Takahiro Suzuki, Yuji Ebihara, Yoshinobu Ando, Makoto Mizukawa

研究成果: Conference contribution

4 引用 (Scopus)

抜粋

Non-elastic hyper-flexible elements like tethers and ropes will have various possibilities of unconventional manipulations. In this paper, casting and winding manipulation of hyperflexible manipulators(HFM) is proposed. The HFM is modeled as an underactuated multi-link system connected by non-elastic passive joints, and simulation results with dynamic parameters heuristically determined corresponding to the experimental results show the validity of the proposed non-elastic model. The simulation results also correspond to the experimental ones with actuation at the base joint. Observations on the simulation results is derived to reveal a better casting actuation to succeed in winding to an object. Then, single swing actuation for winding is proposed and verified in simulations.

元の言語English
ホスト出版物のタイトル2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
ページ1674-1679
ページ数6
DOI
出版物ステータスPublished - 2006 12 1
イベント2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
継続期間: 2006 10 92006 10 15

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems

Other

Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
China
Beijing
期間06/10/906/10/15

    フィンガープリント

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

これを引用

Suzuki, T., Ebihara, Y., Ando, Y., & Mizukawa, M. (2006). Casting and winding manipulation with hyper-flexible manipulator. : 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 (pp. 1674-1679). [4058616] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2006.282123