Teaching and Programing for Robots. Indirect Simultaneous Positioning Operations of Multiple Points on Extensionally Deformable Objects.

摘要

A novel control method for the indirect positioning operation of soft deformable objects will be proposed. In some operations, multiple points on a deformable object should be positioned to the desired ones simultaneously. In addition, there exist some operations where these positioned points cannot operate directly and we have to perform these operations indirectly by controlling other points. We call these operations indirect simultaneous positioning operations. First, a simplified physical model of deformable textile fabrics is developed for their positioning operations. Second, the indirect positioning operations are formulated using the proposed model. Based on the linearlized model of the deformable objects, we will propose a novel control method for the indirect positioning operations with visual sensors. In this method, positioned points can be guided to the desired locations by controlling the positions of operation points. It should be noted that our control method works well even if the exact physical properties of fabrics cannot be given. Experimental results will show the validity of the proposed method.