3.3 Motion planning

This section explains the motion planning for deriving the trajectory of the robot arm from the rope configuration. The procedure for the motion planning of the robot is the following:


$$r(t=0) = \mathbf{s}\_{r\_{N-1}}, \ \ r(t=\Delta T) = \mathbf{s}\_{r\_0}.\tag{13}$$

The trajectory is determined so as to linearly move from the N-th link to the first link during the motion time ΔT.

C. The joint angles (θ) of the robot arm can be obtained by solving the inverse kinematics.

## 3.4 Features of proposed method

The advantages of the proposed method can be summarized as follows:


Figure 4. Inverse problem.

• A reference shape of the ribbon can be produced at a certain timing in the presence of gravity.

On the other hand, the disadvantages are as follows:

