| Budget Amount *help |
¥26,260,000 (Direct Cost: ¥20,200,000、Indirect Cost: ¥6,060,000)
Fiscal Year 2014: ¥6,500,000 (Direct Cost: ¥5,000,000、Indirect Cost: ¥1,500,000)
Fiscal Year 2013: ¥10,530,000 (Direct Cost: ¥8,100,000、Indirect Cost: ¥2,430,000)
Fiscal Year 2012: ¥9,230,000 (Direct Cost: ¥7,100,000、Indirect Cost: ¥2,130,000)
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| Outline of Final Research Achievements |
The purpose of this research is to manipulate deformable and soft objects (flexible objects) by robot at high-speed. To achieve this, we proposed manipulation method that is necessary for the realization of the flexible object manipulation and trajectory generation method of the robot based on the manipulation method. In addition, high-speed image processing is implemented in order to recognize state of the flexible object at real-time. Then the result of the image processing is fed back to the trajectory generation of the robot. And, high-speed robot system suitable for the proposed method was constructed. Using the proposed method and the robot system, various tasks such as button spinner, shape control of the ribbon, card shooting and the pizza dough rotation were realized.
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