1A2-A20 複数のマニピュレータによる線状柔軟物体のハンドリング

概要

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A wire also called Deformable Linear Object(DLO) has a shape of simple line or spline. But has an uncertainty properties of deformation. We can see even the natural status of the wire has a different shapes caused by the internal stress and contact conditions. Especially extern condition determines the shape of the wire. We believe handling motion planning and strategies of DLO, we are considering the electric wire, can automate industrial application. Our interest is not a topological shape of wire, but the manipulation and assembly applications by multiple manipulators. As the first step, wire handling motion planning of manipulator can constraint the end effector's orientation and the gripping strategies of deformable linear object will be shown. Simulation result showed the performance and the effectiveness of our approaches.
一般社団法人日本機械学会の論文