高速机器人系统对柔性物体的动态操纵:从静态到动态

Y. Yamakawa, Shouren Huang, A. Namiki, M. Ishikawa
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引用次数: 2

摘要

这一章解释了柔性对象的动态操作,其中要操作的目标对象包括绳子、丝带、布、披萨面团等。以前,灵活的对象操作是在静态或准静态状态下执行的。因此,操作时间变长,操作效率不充分。为了解决这些问题,我们提出了一种新的控制策略和运动规划,以实现高速柔性物体操作。该策略简化了柔性目标动力学。此外,我们还实现了高速视觉系统和高速图像处理,通过操纵机器人轨迹来提高成功率。通过该策略、运动规划和高速视觉反馈,我们演示了几个任务,包括动态操纵和打结绳、生成带状形状、动态折叠布料、绳插入和比萨饼面团旋转,并展示了使用高速机器人系统获得的实验结果。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Toward Dynamic Manipulation of Flexible Objects by High-Speed Robot System: From Static to Dynamic
This chapter explains dynamic manipulation of flexible objects, where the target objects to be manipulated include rope, ribbon, cloth, pizza dough, and so on. Previ-ously, flexible object manipulation has been performed in a static or quasi-static state. Therefore, the manipulation time becomes long, and the efficiency of the manipulation is not considered to be sufficient. In order to solve these problems, we propose a novel control strategy and motion planning for achieving flexible object manipulation at high speed. The proposed strategy simplifies the flexible object dynamics. More-over, we implemented a high-speed vision system and high-speed image processing to improve the success rate by manipulating the robot trajectory. By using this strategy, motion planning, and high-speed visual feedback, we demonstrated several tasks, including dynamic manipulation and knotting of a rope, generating a ribbon shape, dynamic folding of cloth, rope insertion, and pizza dough rotation, and we show experimental results obtained by using the high-speed robot system.
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