Manipulator trajectory generation for flexible object handling

There are many kinds of flexible objects in house. For example, papers, rubbers, clothes are the typical objects. So, a home service robot is needed the operating techniques for flexible objects. However, to operate these objects have not established because these objects have variable characteristics that is different from each material. In fact, it is difficult to realize to represent object´s modeling to operate such object . Although modeling of the flexible objects have been proposed by several researchers. However, the method to treat flexible object is difficult and few studies considered robot manipulator motion to treat the flexible objects. In this paper, we propose a technique of trajectory generation for a manipulator to operate flexible objects in folding task. And, object´s conditions are evaluated by image processing. The most important of our study is trajectory is generated by online evaluation of flexible objects.