Abstract
This paper discusses a plastic deformation control towards the active shaping of a rheological object by considering the characteristics of viscoelasticity. We utilize a four-element model for approximating the dynamic characteristics of object's deformation. After deriving the relationship between the elastic deformation and the plastic one, we propose a control method for generating the desired plastic deformation based on the integral force applied to the object and the viscous element leading to the plastic deformation. This method has an advantage where we can reduce the handling time for the position based method. We show experimental results for confirming the validity of the proposed method.
