結び目理論に基づくひも解き操作の計画法とマニピュレータの動作生成アルゴリズム

抄録

Our research purpose is to estublish an automated manipulator system which can operate a deformable linear object. Especially, our research group has been focusing on the string shape operation by a robot. We devide process of shape operation into four phases. These are string shape reconstruction, planning of string shape operation, robot motion generation and execution of shape operation. In our previous study on string shape reconstruction, shape of a string was reconstructed from 3D point cloud data by proposed method. In this study, the planning method of string untying operation based on knot theory and the motion generation of a manipulator are proposed. Finally, the results of string untying experiment are reported.