Casting control for hyper-flexible manipulation

Takahiro Suzuki, Yuji Ebihara

研究成果: Conference contribution

7 被引用数 (Scopus)

抄録

Hyper-flexible elements like tethers and ropes will have various possibilities of novel manipulations. In this paper, casting and winding maipulation of hyper-flexible manipulators(HFM) is considered. The HFM is modeled and analyzed as an underactuated multi-link system connected by nonelastic passive joints. An iterative revision method of parameter identification and state estimation is proposed. The method obtains highly credible parameters and state profiles from comparatively roughly visually sampled data using dynamic simulation. Succeeded and failed results of casting motion are analyzed by simulation and an energy-like function of position and velocity of HFM tip is defined. A control method to determine actuation timing to efficiently increase the energy-like function is proposed.

本文言語English
ホスト出版物のタイトル2007 IEEE International Conference on Robotics and Automation, ICRA'07
ページ1369-1374
ページ数6
DOI
出版ステータスPublished - 2007 11 27
外部発表はい
イベント2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
継続期間: 2007 4 102007 4 14

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
ISSN(印刷版)1050-4729

Other

Other2007 IEEE International Conference on Robotics and Automation, ICRA'07
国/地域Italy
CityRome
Period07/4/1007/4/14

ASJC Scopus subject areas

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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