Casting Control for Hyper-Flexible Manipulation

Hyper-flexible elements like tethers and ropes will have various possibilities of novel manipulations. In this paper, casting and winding manipulation of hyper-flexible manipulators (HFM) is considered. The HFM is modeled and analyzed as an underactuated multi-link system connected by non-elastic 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.