Casting and Winding Manipulation with Hyper-Flexible Manipulator

Author

Suzuki, Takahiro ; Ebihara, Yuji ; Yoshinobu Ando ; Mizukawa, Makoto

Author_Institution

IIS, Tokyo Univ.

fYear

2006

fDate

Oct. 2006

Firstpage

1674

Lastpage

1679

Abstract

Non-elastic hyper-flexible elements like tethers and ropes will have various possibilities of unconventional manipulations. In this paper, casting and winding manipulation of hyperflexible manipulators (HFM) is proposed. The HFM is modeled as an underactuated multi-link system connected by non-elastic passive joints, and simulation results with dynamic parameters heuristically determined corresponding to the experimental results show the validity of the proposed non-elastic model. The simulation results also correspond to the experimental ones with actuation at the base joint. Observations on the simulation results is derived to reveal a better casting actuation to succeed in winding to an object. Then, single swing actuation for winding is proposed and verified in simulations

Keywords

flexible manipulators; manipulator dynamics; base joint actuation; casting actuation; casting manipulation; dynamic parameters; hyper-flexible manipulator; nonelastic passive joints; single swing actuation; underactuated multi-link system; winding manipulation; Casting; Chemical technology; Control systems; Elasticity; Force control; Intelligent robots; Manipulator dynamics; Motion control; Space exploration; Wires;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on

Conference_Location

Beijing

Print_ISBN

1-4244-0259-X

Electronic_ISBN

1-4244-0259-X

Type

conf

DOI

10.1109/IROS.2006.282123

Filename

4058616