Handling of a constrained flexible object by a robot

Deals with the handling of a constrained flexible object by a robot. The authors regard the robot as a rigid manipulator and the object as having one side free and the other side fixed to the wall. The authors' purpose is for the robot, to follow up the open end of the flexible object and to suppress its vibration. As a technique to achieve their purpose, the authors propose a new numerical modeling method to handle the object by the robot. This model reveals the force relationship at the handling point. Next, the authors constitute the control system to make it possible to achieve two performances, following up the object and vibration suppression.