Motion planning for dynamic knotting of a flexible rope with a high-speed robot arm

In this paper, we propose an entirely new strategy for dexterous manipulation of a linear flexible object with a high-speed robot arm. The strategy involves manipulating the object at high speed. By moving the robot at high speed, we can assume that the dynamic behavior of the linear flexible object can be obtained by performing algebraic calculations of the robot motion. Based on this assumption, we derive a model of the linear flexible object and confirm the validity of the proposed model. Finally, we perform simulation of dynamic knotting based on the proposed model. Results of an experiment demonstrating dynamic knotting with a high-speed robot arm are shown.