High Acceleration Robotic Arm for Dynamic and Dexterous Manipulation of Deformable Object

Deformable object manipulation is very important for home service robots. This paper discusses the development of a high acceleration robotic arm capable of performing dexterous manipulation of deformable object such as string. A mass-spring model of the string is first developed to study the design requirement of the robot as well as to determine the required motion of the robot to smartly manipulate the string. The developed system comprising of the string model and robotic arm is then used to manipulate unknown string. Based on some simple basic routine, the parameters of the string can be approximated based on the string model. Once the parameters are known, the string can be smartly manipulated by the robotic arm.