JRM Vol.10 No.3 pp. 167-169
doi: 10.20965/jrm.1998.p0167


Special Issue on Handling of Flexible Object

Masaru Nakazawa

Dept. of Functional Machinery and Mechanics, Faculty of Textile Science and Technology, Shinshu University, 3-15-1 Tokida, Uedashi, Nagano 386-8567, Japan

June 20, 1998

It is difficult to introduce highly versatile automation using robots to handling deformable objects such as thread, cloth, wire, long beams, and thin plates in plant production processes, compared to the handling of rigid objects. Office equipment handles deformable objects such as paper and plastic. Problems unique to these objects is caused by speeding up such equipment and demand for upgrading its accuracy. In agriculture and medical care, automatic, intelligent handling of deformable objects such as fruit and animals has long been desired and practical systems sought. Deformable objects whose handling should be versatiley and accurately automated are classified into two groups based on handling: (A) Flexible, mostly thin, fine objects capable of elastic deformation (B) Soft objects easily crushed, such as soft fruits or animals The problem in handling the first group is controlling object deformation of an infinite degree of freedom with a finite number of manipulated variables. In contrast, a significant problem in handling the second group is often how to handle them without exerting excessive stress and how to handle them safely and reliably. The handling of these two groups differ greatly in mechanics and control theory, and this special issue focuses on the first group — flexible objects — mechanical collection and transport studies, control, and software. Recent studies on their handling are classified into four groups for convenience based on handled objects and types of handling task: (a) Control of deformation, internal force, and vibration or path planning of flexible objects (mainly thin plates and beams) using single or multiple manipulators. (b) Task understanding in insertion of elastic into rigid parts and vice versa, and the study of human skills to help robots accomplish these task. (c) Approaches on improved accuracy, intelligent control, and vibration damping in handling and transfer of sheets and strings with low flexural rigidity, represented by paper or wire. (d) Strategies for grasping and unfolding sheets such as cloth whose flexural rigidity is almost nil. For (a), studies are active on deformation control by two robot hands attempting to grasp cloth. 1-3) In the automobile industry, so-called flexible fixtureless assembly systems are advancing in which two robots process or assemble parts in mid-air without a fixed table to reduce lead time and cost. These systems are mostly developed assuming handled parts are rigid. Nguyen et al. work assuming parts such as sheet metal whose deformation must be taken into consideration.1) Nakagaki et al. propose form estimation that considers even plastic deformation in wire handling by robots, in connection with the development of robots for electric wire installation.4) Many studies cover flexible wire as elastic beams,3-9) but comparatively few focus on bending deformation of thin plates. This special edition includes a paper by Kosuge et al. on thin-plate deformation control. Vibration control of grasped objects becomes important as speed increases. Matsuno kindly contributed his paper on optimum path planning in elastic plate handling. In controlling the deformation of elastic bodies, the mechanics of objects handled is often unknown. This special issue features a paper by Kojima et al. on an approach to this problem by adaptive feed-forward control. For (b), we consider three cases: (1) A cylindrical rigid body inserted into a hole on an elastic plate. (2) An elastic bar inserted into a hole on a rigid body. (3) A tubular elastic body put on a cylindrical rigid body. This special issue carries papers on these problems by Brata et al., Matsuno et al., and Hirai. For (2), a paper by Nakagaki et al.10) covers electric wire installation. For (3), the paper by Shima et al.11) covers insertion of a rigid axis into an elastic hose. Robot skill acquisition is an important issue in robotics in general, and the above papers should prove highly interesting and information because they treat studies by comparing robot and human skills in accomplishing work and acquiring concrete skills knowledge. For (c), attempts are made to theoretically analyze sheet handling mechanisms and control developed based on trial and error, and to structure design theory based on such analysis. These attempts are related to the increased accuracy and speed and enhanced intelligence of sheet-handling office automation equipment such as printers, facsimile machines, copiers, and automated teller machines. Yoshida et al. conducted a series of studies on the effects of guides forming paper feed paths and of inertia force of paper by approximating sheets with a chain of discrete masses and springs.12-14) This special edition also features a study on sheet sticking and jamming. Okuna et al. handles a system of similar nature, mechanical studying the form of paper guides.15) Introducing mechanisms to control the positioning of sheets is effective in raising sheet transfer accuracy. Feedback control that regulates feed roller skew angle as a manipulated variable is proposed.16) Increased reliability in separating single sheets from stacked effectively reduces the malfunction rate in sheet-handling equipment. Ways of optimizing the form of sheet-separation rollers17) and estimating frictional force between separation gates and sheets 18) are also proposed. This special issue contains a proposal by Nakazawa et al. of a mechanism that uses reactive sheet buckling force, made in connection with development of a newspaper page turner for the disabled as technology for separating single sheets. Dry frictional force is most widely used for transporting sheets, but is not stable and may even act as an obstacle to improving accuracy. Niino et al. propose a sheet transfer mechanism that uses electrostatic force.19) For improving the accuracy of flexible wire transmission, this special issue carries a study on transporting flexible thin wire through tension control at multiple points, from a study by Morimitsu et al. on optical fiber installation. The thickness of wire used in equipment is becoming increasingly slim and flexible, along with the equipment it is used in. Tension control in the production process is an important factor in the manufacture of such thin wire. Production efficiency constantly calls for increased transfer speed. It has thus become important to estimate air resistance and inertia and to measure and control the tension of running wire. Studies20,21) by Batra, Fraser, et al. which deal the motion of string in the spinning process provide good examples for learning analytical techniques for air drag and inertia. In string vibration where inertia dominates, attempts are made to control vibration by boundary shaking22,23) and feed-forward/back control.24) For (d), highly versatile robots for handling cloth are being developed, and the software technology for automatic cloth selection and unfolding by robot hands is a popular topic.25-27) Ono et al. comment on the nature of problems in developing intelligent systems for handling cloth and similar objects whose bending rigidity is low and which readily fold and overlap—a paper that will prove a good reference in basic approaches in this field. Mechanical analyses are indispensable to studies on (a) through (c). In contrast, information technology such as characteristic variable measurement, image processing, and discrimination, rather than mechanical analyses, play an important roles in studies on (d). This special issue features a study by Hamashima, Uraya et al. on cloth unfolding as an example of such studies. Studies up to now largely assumed that properties of grasped objects did not change environmental influences such as temperature and humidity. Such influence is often, however, a major factor in handling fiber thread and cloth. This special issue has a paper contributed by Taylor, who studies handling method to prevent influence by such environmental factors. The objective of this special issue will have been achieved if it aids those studying the handling of flexible objects by providing approaches and methodologies of researchers whose target objects differ and if it aids those planning to take up study in this field by providing a general view of this field. References: 1) Nguyen, W. and Mills, J., “Multi-Robot Control For Plexible Fixtureless Assembly of Flexible Sheet Metal Auto Body Parts,” Proceedings of the 1996 IEEE International Conference on Robotics and Automation, 2340-2345, (1996). 2) Sun, D. and Shi, X. and Liu, Y., “Modeling and Cooperation of Two-Arm Robotic System Manipulating a Deformable Object,” Proceedings of the 1996 IEEE International Conference on Robotics and Automation, 2346-2351, (1996). 3) Kosuge, K., Sakaki, M., Kanitani, K., Yoshida, H. and Fukuda, T., “Manipulation of a Flexible Object by Dual Manipulators,” IEEE International Conference on Robotics and Automation, 318-323, (1995). 4) Nakagaki, H., Kitagaki, K., Ogasawara, T. and Tukune H., “Handling of a Flexible Wire -Detecting a Deformed Shape of the Wire by Vision and a Force Sensor,” Annual Conference on Robotics and Mechatronics (ROBOMEC’96), 207-210, (1996). 5) Wakamatsu, H., Hirai, S. and Iwata, K., “Static Analysis of Deformable Object Grasping Based on Bounded Force Closure,” Trans. of JSML, 84-618 (C), 508-515, (1998). 6) Katoh, R. and Fujmoto, T., “Study on Deformation of Elastic Object By Manipulator -Path Planning of End -Effector-,” J. of the Robotics Society of Japan, 13-1, 157-160, (1995). 7) Yukawa, T., Uohiyama, M. and Inooka, M., “Stability of Control System in Handling a Flexible Object by Rigid Arm Robots,” JSME Annual Conference on Robotics and Mechatronics (ROBOMEC’95), 169-172, (1995). 8) Yukawa, T., Uohiyama, M. and Cbinata, G., “Handling of a Vibrating Flexible Structure by a Robot,” Trans. JSME, 61-583, 938-943, (1995). 9) Sun, D. and Liu, Y., “Modeling and Impedance Control of a Two-Manipulator System Handling a Flexible Beam,” Trans. of the ASME, 119, 736-742, (1997). 10) Nakagaki, H., Kitagaki, K. and Tukune, H., “Contact Motion in Inserting a Flexible Wire into a Hole,” Annual Conference on Robotics and Mechatronics (ROBOMEC’95), 175-178, (1995). 11) Shimaji, S., Brata, A. and Hattori, H., “Robot Skill in Assembling a Cylinder into an Elastic Hose,” Annual Conference on Robotics and Mechatronics (ROBOMEC’95), 752-755, (1995). 12) Yoshida, K. and Kawauchi, M., “The Analysis of Deformation and Behavior of Flexible Materials (1st Reprt, Study of Spring-Mass Beam Model of the Sheet,” Trans. of JSME, 58-552, 1474-1480, (1992). 13) Yoshida, K., “Analysis of Deformation and Behavior of Flexible Materials (2nd Report, Static Analysis for Deformation of the Sheet in the Space Formed by Guide Plates),” Trans. JSME, 60-570, 501-507, (1994). 14) Yoshida, K., “Dynamic Analysis of Sheet Defofmation Using Spring-Mass-Beam Model,” Trans. JSME, 63-615, 3926-3932 (1997). 15) Okuna, K., Nishigaito, T. and Shina, Y., “Analysis of Paper Deformation Considering Guide Friction (Improvement of Paper Path for Paper-Feeding Mechanism),” Trans. JSME, 60-575, 2279-2284, (1994). 16) Fujimura, H. and Ono, K., “Analysis of Paper Motion Driven by Skew-Roll Paper Feeding System,” Trans. JSME, 62-596, 1354-1360, (1996). 17) Shima, Y., Hattori, S., Kobayashi, Y. and Ukai, M., “Optimum of Gate-Roller Shape in Paper Isolating Methods,” Conference of Information, Intelligence and Precision Equipment (IIP’96), 61-62, (1996). 18) Suzuki, Y, Hattori, S., Shima, Y. and Ukai, M., “Contact Analysis of Paper in Gate-Roller Handling Method”, Conference on Information, Intelligence and Precision Equipment (IIP’95), 19-20, (1995). 19) Niino, T., Egawa, S. and Higuchi, T., “An Electrostatic Paper Feeder,” J. of the Japan Society for Precision Engineering, 60-12,1761-1765, (1994). 20) Batra, S., Ghosh, T. and Zeidman, M., “An Integrated Approach to Dynamic Analysis of the Ring Spinning Process , PartII: With Air Drag,” Textile Research Journal, 59, 416-424, (1989). 21) Fraser, W., Ghosh, T. and Batra, S., “On Unwinding Yarn from a Cylindrical Package,” Proceedings of Royal Society of London, A, 436, 479-438, (1992). 22) Jacob, S., “Control of Vibrating String Using Impedance Matching,” Proceedings of the American Control Conference (San Francisco),468-472, (1993). 23) Lee, S. and Mote, C., “Vibration Control of an Axially Moving String by Boundary Control,” Trans. of the ASME, J. of Dynamic Systems, Measurement, and Control, 118, 66-74, (1996). 24) Ying, S. and Tan, C., “Active Vibration Control of the Axially Moving String Using Space Feedforward and Feedback Controllers,” Trans. ASME, J. of Vibration and Acoustics, 118, 306-312, (1996). 25) Ono, E., Ichijo, H. and Aisaka, N., “Flexible Robotic Hand for Handling Fabric Pieces in Garment Manufacture,” International Journal of Clothing Science and Technology, 4-5,18-23, (1992). 26) Paraschidis, K., Fahantidis, N, Petridis, V., Doulgeri, Z., Petrou, L. and Hasapis, G, “A Robotic System for Handling Textile and Non Rigid Flat Materials,” Computers in Industry, 26, 303-313, (1995). 27) Fahantidis, N., Paraschidis, K, Petridis, V., Doulgeri, Z., Petrou, L. and Hasapis, G., “Robot Handling of Flat Textile Materials,” IEEE Robotics & Automation Magazine, 4-1, 34-41, (1997).

Cite this article as:
Masaru Nakazawa, “Special Issue on Handling of Flexible Object,” J. Robot. Mechatron., Vol.10, No.3, pp. 167-169, 1998.
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