Dynamic manipulation of unknown string by robot arm: realizing momentary string shapes

Dynamic manipulation of unknown string by robot arm: realizing momentary string shapes

Abstract We propose a method to realize the dynamic manipulation of a string with unknown characteristics via a high-speed robot arm. We use a mass-spring-damper model for the string and repeat three steps: motion generation, real manipulation, and parameter estimation. Robot motion is given by the...

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Bibliographic Details
Main Authors: Kenta Tabata, Hiroaki Seki, Tokuo Tsuji, Tatsuhiro Hiramitsu, Masatoshi Hikizu
Format: Article
Language:English
Published: SpringerOpen 2020-12-01
Series:ROBOMECH Journal
Subjects:
Flexible object
Linear object
Dynamic manipulation
High speed motion
Unknown characteristic
Online Access:https://doi.org/10.1186/s40648-020-00187-w

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