Control and planning in indirect simultaneous positioning of multiple points on deformable objects

Author

Hirai, Shinichi ; Wada, Takahiro ; Kawamura, Sadao

Author_Institution

Dept. of Robotics, Ritsumeikan Univ., Kyoto, Japan

fYear

1999

fDate

1999

Firstpage

219

Lastpage

225

Abstract

We propose a new control and planning method for indirect simultaneous positioning of a deformable object. First, a simplified physical model of a deformable textile fabric is developed for its positioning operation. Next, indirect simultaneous positioning of a fabric is formulated using the proposed model. Based on a linearized model of a fabric, we propose a novel control method for its indirect simultaneous positioning with a vision sensor. In this method, multiple positioned points can be guided to the desired locations by controlling the locations of manipulated points. Experimental results show the robustness of our proposed method against the discrepancy between a real fabric and its model. Finally, planning of the locations of manipulated points is discussed based on a fabric model

Keywords

computer vision; industrial manipulators; path planning; position control; textile industry; computer vision; deformable objects; indirect positioning; motion planning; position control; robot manipulators; textile fabric; Automatic control; Deformable models; Fabrics; Humans; Joining processes; Manufacturing; Robots; Robustness; Springs; Textiles;

fLanguage

English

Publisher

ieee

Conference_Titel

Assembly and Task Planning, 1999. (ISATP '99) Proceedings of the 1999 IEEE International Symposium on

Conference_Location

Porto

Print_ISBN

0-7803-5704-3

Type

conf

DOI

10.1109/ISATP.1999.782962

Filename

782962