Task planning for indirect simultaneous positioning of deformable objects

摘要

Task planning for indirect simultaneous positioning of deformable objects will be presented. First, the condition to establish the given positiong will be defined as positionability and the method to evaluate the positionability condition will be proposed. Second, a quantitative measure for evaluating forces exerted on the objects is proposed. Then, planning the indirect positioning will be proposed based on the positionability condition and the quantitative measure.