Abstract
To satisfy the various assembly demands which operate using flexible materials, we have newly developed the motion planning approaches. In this report, for the "Furoshiki" wrapping operations the motion planning approach are shown. This approach considers the loci of the handling points for the wrapping and the tying of the sheet. Especially, to avoid the complex motion of tying at the "Mamusubi" operation, the newly approach has been proposed. This approach divides the crossing operation into the two motions; one is the 2-dimensional motion and the other is the wrapped object rotation around vertical axis.
