Title :
Dynamic manipulation of strings for housekeeping robots
Author :
Hashimoto, Minoru ; Ichikawa, Tomoaki
Author_Institution :
Dept. of KANSEI Eng., Shinshu Univ., Nagano, Japan
Abstract :
Manipulation of deformable objects is an important subject for housekeeping robots. Dynamic manipulation of a string was studied in this paper as an example. The string is modeled by a rigid body linkage with passive joints in two-dimensional space. The parameters of the joint stiffness and viscosity are identified experimentally using a high speed video camera. A simulation of the dynamic manipulation is performed based on an optimal control theory to obtain the desired trajectory of the manipulator. The validity of the proposed method is shown by experimental results of the dynamic manipulation.
Keywords :
flexible manipulators; least squares approximations; manipulator dynamics; optimal control; parameter estimation; deformable objects; dynamic manipulation; high speed video camera; housekeeping robots; joint stiffness; least square method; manipulator trajectory; optimal control theory; parameter identification; passive joints; rigid body linkage; strings; two-dimensional space; viscosity; Couplings; Humans; Manipulator dynamics; Optimal control; Orbital robotics; Robots; Senior citizens; Space technology; Textile technology; Viscosity;
Conference_Titel :
Robot and Human Interactive Communication, 2002. Proceedings. 11th IEEE International Workshop on
Print_ISBN :
0-7803-7545-9
DOI :
10.1109/ROMAN.2002.1045650
