4. Task realization

In this section, we explain our high-speed robot system. Then, based on the proposed dynamic manipulation method, we describe proposed strategies for realizing various tasks such as dynamic knotting of a flexible rope, a generation of ribbon shape, and a dynamic folding of a cloth. The experimental results will be shown in Section 6.

#### 4.1 High-speed robot system

The high-speed robot system consists of a high-speed robot arm (four degrees of freedom, manufactured by Barrett Technology Inc.), two high-speed robot hands (180°/0.1 s) [12] mounted on two sliders (2 m/s), a high-speed vision system (1000 frames per second), and a real-time controller (1 kHz). The high-speed vision system is used for high-speed visual feedback, including real-time image processing. The joint angles of the robot system (arm, hands, and sliders) are controlled by a proportional-derivative law to the reference joint angles every 1 ms (corresponding to a sampling rate of 1 kHz).

#### 4.2 Dynamic knotting of a flexible rope

As a first example, we explain a dynamic knotting of a flexible rope. Figure 6 shows a strategy of the dynamic knotting. Firstly, we produce the circle shape on Toward Dynamic Manipulation of Flexible Objects by High-Speed Robot System: From Static… DOI: http://dx.doi.org/10.5772/intechopen.82521

Figure 5. Block diagram of high-speed visual feedback control.

Figure 6. Strategy of dynamic knotting of flexible rope.

the rope as shown in Figure 6(a)–(d). Then we perform the impact phenomenon on the intersection of the circle as shown in Figure 6(d)–(f). After the impact, the end of the rope passes through the circle. As a result, the dynamic knotting can be completed.
