Task Planning for Indirect Simultaneous Positioning of Deformable Objects

Abstract: Task planning for indirect simultaneous positioning of deformable objects will be presented. First, the condition to establish the given positioning 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 simultaneous positioning will be proposed based on the positionability condition and the quantitative measure.

Keywords: deformable objects, indirect simultaneous positioning, textile fabrics, planning