Dynamic High-Speed Knotting of a Rope by a Manipulator. (22nd October 2013)

• Record Type: Journal Article
• Authors: Yamakawa, Yuji; Namiki, Akio; Ishikawa, Masatoshi
• Is Part Of: International journal of advanced robotic systems. Volume 10:Number 10(2013)
• Publication Date: 2013-10-22
• Subjects: Dynamic High-Speed Manipulation -- Flexible Object -- Simple Rope Deformation Model -- Motion Planning; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/56783
• Languages: English
• ISSNs: 1729-8806

Abstract

In this paper we suggest an entirely new strategy for the dexterous manipulation of a linear flexible object, such as rope or a cable, with a high-speed manipulator. We deal with a flexible rope as one example of the linear flexible object. The strategy involves manipulating the object at high-speed. By moving the robot at high-speed, we can assume that the dynamic behaviour of the flexible rope can be obtained by performing algebraic calculations of the high-speed robot motion. Based on this assumption, we derive a dynamic deformation model of the flexible rope and confirm the validity of the proposed model. Then we perform a simulation of dynamic, high-speed knotting based on the proposed model. We also discuss the possibility of forming the knot based on a simple analysis model. Finally, we show experimental results demonstrating dynamic, high-speed knotting with a high-speed manipulator.