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Sonic-speed Manipulation of a Bull Whip with a High-speed Robot Arm

Summary

In this research, we propose an entirely new ultra high-speed actuation technique with whip manipulation by a high-speed robot manipulator. By using the characteristics of the whip, we can realize dexterous manipulation of the whip. In particular, we aim to achieve a sonic-speed manipulation at the free end of the whip.

To achieve this, we explore a feasibility of the sonic-speed manipulation of the whip by a trajectory planning of the robot arm. The trajectory is obtained by an analysis of whip manipulation by a human subject. Then we performed an experiment of the sonic-speed manipulation of the whip using the trajectory. Finally we confirmed that the sonic-speed manipulation can be demonstrated and there exists a high feasibility of the whip manipulation with the proposed method.

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References

  1. Yuji Yamakawa, Kazunori Odani and Masatoshi Ishikawa: Sonic-speed Manipulation of a Bull Whip Using a Robot Manipulator, 2016 IEEE International Conference on Advanced Intelligent Mechatronics, pp.1139-1144 (2016)
Ishikawa Watanabe Laboratory, Department of Information Physics and Computing, Department of Creative Informatics,
Graduate School of Information Science and Technology, University of Tokyo
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