• E The rope is tied around a cylindrical pole by dual 6 D.O.F direct drive manipulators. • E The manipulators confirm that the rope is grasped by both hands using the force sensor. • E A flexible object model and a CCD camera vision system are used to recognize the shape of the rope.

There are three motion stages for an industrial robot manipulator, including the acceleration stage, constant velocity and deceleration stage. Aiming at reducing residual vibration of manipulator after movement deceleration, a new method is proposed by configuring parameters flexible manipulator. Firstly, we conduct experiments to verify numerical model then, analyze suppression effect under di...