Knotting Plan based on Synthesis of Manipulation Skillswith Considerations of Robot Hand Mechanism and Motion

Abstract

This paper demonstrates the relationship between the production process of a knot and robot hand skills. First, we define the descriptions (rope intersection and fixed position) of a knot. Next, the characteristics of the robot hand skills are clarified from viewpoint of the description of the knot. Then, in order to obtain the production process of knot, we propose an analysis method based on the structure of knot and the characteristics of the robot hand skills. And, we analyze various knots using the proposed analysis method. Finally, in order to validate the production process obtained by the proposed analysis method, an experimental result of half hitch is shown by using a high-speed multifingered hand system.