Simplified deformation model and shape generation of a rhythmic gymnastics ribbon using a high-speed multi-jointed manipulator

In this paper, we propose an entirely new manipulation strategy for dynamic manipulation of a rhythmic gymnastics ribbon, as one example of belt-like flexible objects, with a high-speed multi-jointed manipulator. The manipulation strategy involves manipulating the target object (rhythmic gymnastics...

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Autores principales:	Yuji YAMAKAWA, Akio NAMIKI, Masatoshi ISHIKAWA
Formato:	article
Lenguaje:	EN
Publicado:	The Japan Society of Mechanical Engineers 2016
Materias:	dynamic manipulation belt-like flexible object constant and high-speed motion simplified deformation model trajectory planning shape generation Mechanical engineering and machinery TJ1-1570
Acceso en línea:	https://doaj.org/article/70cf0f2265f7459cb00d22be57a55fa1
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id	oai:doaj.org-article:70cf0f2265f7459cb00d22be57a55fa1
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spelling	oai:doaj.org-article:70cf0f2265f7459cb00d22be57a55fa12021-11-26T06:58:33ZSimplified deformation model and shape generation of a rhythmic gymnastics ribbon using a high-speed multi-jointed manipulator2187-974510.1299/mej.15-00510https://doaj.org/article/70cf0f2265f7459cb00d22be57a55fa12016-11-01T00:00:00Zhttps://www.jstage.jst.go.jp/article/mej/3/6/3_15-00510/_pdf/-char/enhttps://doaj.org/toc/2187-9745In this paper, we propose an entirely new manipulation strategy for dynamic manipulation of a rhythmic gymnastics ribbon, as one example of belt-like flexible objects, with a high-speed multi-jointed manipulator. The manipulation strategy involves manipulating the target object (rhythmic gymnastics ribbon) at a constant, high speed. Then, we can assume that the dynamic behavior of the ribbon can be obtained by performing algebraic calculations of the robot motion using the proposed strategy. Based on this assumption, we derive a simplified deformation model of the ribbon and suggest a simple motion planning method using the proposed model. Finally, we show simulation results and experimental results of shape generations (for example, circle, wave, figure-eight, and crack shapes) of a ribbon based on the proposed method, and we discuss quantitative evaluation of shape generations by image processing.Yuji YAMAKAWAAkio NAMIKIMasatoshi ISHIKAWAThe Japan Society of Mechanical Engineersarticledynamic manipulationbelt-like flexible objectconstant and high-speed motionsimplified deformation modeltrajectory planningshape generationMechanical engineering and machineryTJ1-1570ENMechanical Engineering Journal, Vol 3, Iss 6, Pp 15-00510-15-00510 (2016)
institution	DOAJ
collection	DOAJ
language	EN
topic	dynamic manipulation belt-like flexible object constant and high-speed motion simplified deformation model trajectory planning shape generation Mechanical engineering and machinery TJ1-1570
spellingShingle	dynamic manipulation belt-like flexible object constant and high-speed motion simplified deformation model trajectory planning shape generation Mechanical engineering and machinery TJ1-1570 Yuji YAMAKAWA Akio NAMIKI Masatoshi ISHIKAWA Simplified deformation model and shape generation of a rhythmic gymnastics ribbon using a high-speed multi-jointed manipulator
description	In this paper, we propose an entirely new manipulation strategy for dynamic manipulation of a rhythmic gymnastics ribbon, as one example of belt-like flexible objects, with a high-speed multi-jointed manipulator. The manipulation strategy involves manipulating the target object (rhythmic gymnastics ribbon) at a constant, high speed. Then, we can assume that the dynamic behavior of the ribbon can be obtained by performing algebraic calculations of the robot motion using the proposed strategy. Based on this assumption, we derive a simplified deformation model of the ribbon and suggest a simple motion planning method using the proposed model. Finally, we show simulation results and experimental results of shape generations (for example, circle, wave, figure-eight, and crack shapes) of a ribbon based on the proposed method, and we discuss quantitative evaluation of shape generations by image processing.
format	article
author	Yuji YAMAKAWA Akio NAMIKI Masatoshi ISHIKAWA
author_facet	Yuji YAMAKAWA Akio NAMIKI Masatoshi ISHIKAWA
author_sort	Yuji YAMAKAWA
title	Simplified deformation model and shape generation of a rhythmic gymnastics ribbon using a high-speed multi-jointed manipulator
title_short	Simplified deformation model and shape generation of a rhythmic gymnastics ribbon using a high-speed multi-jointed manipulator
title_full	Simplified deformation model and shape generation of a rhythmic gymnastics ribbon using a high-speed multi-jointed manipulator
title_fullStr	Simplified deformation model and shape generation of a rhythmic gymnastics ribbon using a high-speed multi-jointed manipulator
title_full_unstemmed	Simplified deformation model and shape generation of a rhythmic gymnastics ribbon using a high-speed multi-jointed manipulator
title_sort	simplified deformation model and shape generation of a rhythmic gymnastics ribbon using a high-speed multi-jointed manipulator
publisher	The Japan Society of Mechanical Engineers
publishDate	2016
url	https://doaj.org/article/70cf0f2265f7459cb00d22be57a55fa1
work_keys_str_mv	AT yujiyamakawa simplifieddeformationmodelandshapegenerationofarhythmicgymnasticsribbonusingahighspeedmultijointedmanipulator AT akionamiki simplifieddeformationmodelandshapegenerationofarhythmicgymnasticsribbonusingahighspeedmultijointedmanipulator AT masatoshiishikawa simplifieddeformationmodelandshapegenerationofarhythmicgymnasticsribbonusingahighspeedmultijointedmanipulator
_version_	1718409724529999872

Simplified deformation model and shape generation of a rhythmic gymnastics ribbon using a high-speed multi-jointed manipulator

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