Path Planning of Redundant Manipulator and Determination of its Configuration of Bending Elastic Plate Spring
In tasks of assembling machines by manipulator, operations such that the manipulator deforms the shape of an object, for example, bending spring or rubber, are often needed, while many studies as for the operations of the manipulator with geometrical constraints, which means the absence of the shape change of the object, have been reported. This paper deals with two problems; a path planning of a manipulator’s end-effector and a determination method of its configuration in such a operation that an end-effector of the manipulation is commanded to move one end of an elastic plate spring with the another fixed to a wall to a desired position by bending it.
KeywordsTarget Position Path Planning Robot Manipulator Robotic Research Spring Model
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