Task Planning for Indirect Simultaneous Positioning of Deformable
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