Manipulation of deformable linear objects characterized by bending and tortional stiffness

2014 Fiscal Year Final Research Report

• Project/Area Number: 23700227
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Multi-year Fund
• Research Field: Perception information processing/Intelligent robotics
• Research Institution: Tohoku University
• Principal Investigator: JIANG XIN 東北大学, 工学(系)研究科(研究院), 助教 (30451537)
• Research Collaborator: KOO Kyongmo 東北大学, 大学院工学研究科航空宇宙工学専攻 ; NAGAOKA Yuki 東北大学, 大学院工学研究科機械システムデザイン専攻 ; ISHII Kazushi 東北大学, 機械システムデザイン専攻
• Project Period (FY): 2011-04-28 – 2015-03-31
• Keywords: 組立自動化 / 柔軟物ハンドリング

Outline of Final Research Achievements

This research was focused on finding methods for automatically mating a wire harness onto a car body utilizing multiple robot manipulators. For the purpose, a method was proposed for robot motion planning, which is characterized by taking effect of wire dynamics into account. In addition, a new method was also proposed for simplify the problem of wire state recognition. The method imitated the behavior of human when he has to find a plug on a cable blindly. In this way, by tracing the wire segment with the griper, it is possible to recognize the shape and state of a wire harness. From the conducted verification experiments, the effectiveness of the proposal was proved.

Free Research Field

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