Abstract
Analysis of positioning operations of multiple points on a deformable object and its planning problems will be discussed. In some operations that deal with deformable soft objects such as rubber parts, paper sheets, and textile fabrics, multiple points on the object should be guided to their desired locations. In addition, we cannot operate the guided points directly because of collisions among positioning devices and the other devices. Then we must realize the operation by controlling other points on the object. We call such operations indirect simultaneous positioning operations of multiple points on a deformable object and deal with these operations in this paper. We will propose positionability as the condition that positioned points can be guided to their given desired regions. Then, we will derive quantitative measures considering forces exerted on the object. Furthermore, planning method will be proposed based on the positionability condition and the proposed quantitative measures. Experimental results show the validity of the proposed planning method.