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1. Casting Manipulation

キャスティングマニピュレータ

キャスティングマニピュレーション

1. Casting Manipulation
　　A new type of robot system, "Casting manipulator", has been developed for field work in a wide range of areas such as agriculture, construction work, and space development. This manipulator includes a flexible string in its link mechanism and can reach distant places by changing the length of the string. Compared with conventional manipulators which have rigid bodies, the casting manipulator can be composed with light links with simple form. Therefore, expansion of work space, speed elevation in motion, and energy conservation are expected. In order to realize sequential motion of catching and collecting an object, high level motion planning and control by making effective use of its dynamics are required. Stable swing motion generation, motion planning of throwing the gripper to the target with a high accuracy, and mid-air posture control of the gripper are being investigated.

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