Proceedings of JSPE Semestrial Meeting
2023 JSPE Spring Conference
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Casting manipulation with non uniform string by robot arm
*Kenta TabataHiroaki SekiTokuo TsujiTatsuhiro Hiramitsu
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Pages 323-324

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Abstract

Manipulation of deformable objects has been studied for many years in dexterous manipulation. Casting manipulation is an example of deformable linear object manipulation, in which a special device is attached to a string and the robot manipulate object from a long distance. In this study, we propose a method to realize casting manipulation on a non-uniform string whose characteristics are unknown, by repeating motion generation, actual manipulation and parameter estimation to estimate the characteristics of the string, including its mass distribution.

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© 2023 The Japan Society for Precision Engineering
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