NDLI: Planning and control of indirect simultaneous positioning operation for deformable objects

Content Provider	IEEE Xplore Digital Library
Author	Wada, T. Hirai, S. Kawamura, S.
Copyright Year	1999
Description	Author affiliation: Dept. of Robotics, Ritsumeikan Univ., Kyoto, Japan (Wada, T.)
Abstract	A control method for positioning operations of deformable objects is presented. In many manipulative operations of deformable objects, it is required to guide multiple points on on object simultaneously. Moreover, the points often cannot be manipulated directly. A model of the manipulated deformable object is essential to perform these operations. It is, however, difficult to build a precise model of a deformable object. Thus, we need a new control scheme that allows us to perform the operations successfully despite of discrepancy between a manipulated deformable object and its model. We introduce a coarse model of a deformable object and develop a control law for its positioning operation. First, we propose a mathematical model of deformable objects for their positioning operations. Second, indirect simultaneous positioning operations of deformable objects is formulated. Then, we propose an iterative control method to realize a given positioning operation. The validity of the proposed method and the effect of model errors on the operation are examined through experiments using textile fabrics. Experimental results show that coarse model of deformable objects is effective for their positioning operations. Finally, we discuss the locations of robotic fingers, which apply forces to a manipulated object.
Starting Page	2572
Ending Page	2577
File Size	535968
Page Count	6
File Format	PDF
ISBN	0780351800
ISSN	10504729
DOI	10.1109/ROBOT.1999.773984
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1999-05-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Deformable models Fingers Robots Springs Shock absorbers Damping Mathematical model Iterative methods Textiles Fabrics
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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