{"title":"可变形物体上多点间接同时定位的控制与规划","authors":"S. Hirai, T. Wada, S. Kawamura","doi":"10.1109/ISATP.1999.782962","DOIUrl":null,"url":null,"abstract":"We propose a new control and planning method for indirect simultaneous positioning of a deformable object. First, a simplified physical model of a deformable textile fabric is developed for its positioning operation. Next, indirect simultaneous positioning of a fabric is formulated using the proposed model. Based on a linearized model of a fabric, we propose a novel control method for its indirect simultaneous positioning with a vision sensor. In this method, multiple positioned points can be guided to the desired locations by controlling the locations of manipulated points. Experimental results show the robustness of our proposed method against the discrepancy between a real fabric and its model. Finally, planning of the locations of manipulated points is discussed based on a fabric model.","PeriodicalId":326575,"journal":{"name":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1999-07-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Control and planning in indirect simultaneous positioning of multiple points on deformable objects\",\"authors\":\"S. Hirai, T. Wada, S. Kawamura\",\"doi\":\"10.1109/ISATP.1999.782962\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"We propose a new control and planning method for indirect simultaneous positioning of a deformable object. First, a simplified physical model of a deformable textile fabric is developed for its positioning operation. Next, indirect simultaneous positioning of a fabric is formulated using the proposed model. Based on a linearized model of a fabric, we propose a novel control method for its indirect simultaneous positioning with a vision sensor. In this method, multiple positioned points can be guided to the desired locations by controlling the locations of manipulated points. Experimental results show the robustness of our proposed method against the discrepancy between a real fabric and its model. Finally, planning of the locations of manipulated points is discussed based on a fabric model.\",\"PeriodicalId\":326575,\"journal\":{\"name\":\"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)\",\"volume\":\"1 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1999-07-21\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ISATP.1999.782962\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 1999 IEEE International Symposium on Assembly and Task Planning (ISATP'99) (Cat. No.99TH8470)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ISATP.1999.782962","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Control and planning in indirect simultaneous positioning of multiple points on deformable objects
We propose a new control and planning method for indirect simultaneous positioning of a deformable object. First, a simplified physical model of a deformable textile fabric is developed for its positioning operation. Next, indirect simultaneous positioning of a fabric is formulated using the proposed model. Based on a linearized model of a fabric, we propose a novel control method for its indirect simultaneous positioning with a vision sensor. In this method, multiple positioned points can be guided to the desired locations by controlling the locations of manipulated points. Experimental results show the robustness of our proposed method against the discrepancy between a real fabric and its model. Finally, planning of the locations of manipulated points is discussed based on a fabric model.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
