Simplified deformation model and shape generation of a rhythmic gymnastics ribbon using a high-speed multi-jointed manipulator

Abstract

In this paper, we propose an entirely new manipulation strategy for dynamic manipulation of a rhythmic gymnastics ribbon, as one example of belt-like flexible objects, with a high-speed multi-jointed manipulator. The manipulation strategy involves manipulating the target object (rhythmic gymnastics ribbon) at a constant, high speed. Then, we can assume that the dynamic behavior of the ribbon can be obtained by performing algebraic calculations of the robot motion using the proposed strategy. Based on this assumption, we derive a simplified deformation model of the ribbon and suggest a simple motion planning method using the proposed model. Finally, we show simulation results and experimental results of shape generations (for example, circle, wave, figure-eight, and crack shapes) of a ribbon based on the proposed method, and we discuss quantitative evaluation of shape generations by image processing.

Keywords

• dynamic manipulation
• belt-like flexible object
• constant and high-speed motion
• simplified deformation model
• trajectory planning
• shape generation