Robust grasping manipulation of deformable objects

A simple but robust control law for the grasping manipulation of deformable objects is presented. In the handling of deformable objects, grasping and manipulation must be performed simultaneously despite uncertainties during the handling process. We propose a control law to perform grasping and manipulation of deformable objects using a real time vision system.

1 Introduction

Handling of deformable soft objects can be found in many industrial fields including food industry and recycle industry. Many handling operations of deformable objects are performed by humans and their automatic operations are required for the cleanness and the quality of the products.