6.1 Result of dynamic knotting of a rope

Figure 12 shows the experimental result for dynamic knotting with the highspeed robot arm [17]. Also, Figure 13 show a desired rope configuration for producing the circle shape and the joint trajectories of the high-speed robot arm solved by the inverse kinematics. In this experiment, the diameter and the length of the rope are 3 mm and 0.5 m, respectively. It can be seen from Figure 12 that dynamic knotting of the flexible rope was achieved. Since the execution time is 0.5 s, the knotting can be carried out at high speed.
