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IJAT Vol.17 No.4 pp. 399-409
doi: 10.20965/ijat.2023.p0399
(2023)

Research Paper:

Manipulation Planning for Wiring Connector-Attached Cables Considering Linear Object’s Deformability

Kyoto Nozaki*, Changjian Ying*, Yuichiro Matsuura**, and Kimitoshi Yamazaki*,† ORCID Icon

*Shinshu University
Wakasato 4-17-1, Nagano, Nagano 380-8553, Japan

Corresponding author

**Seiko Epson Corp.
Fujimi, Japan

Received:
November 11, 2022
Accepted:
March 22, 2023
Published:
July 5, 2023
Keywords:
cable wiring, deformable linear object, manipulation, physics simulation
Abstract

In this paper, we propose a method of manipulation planning for cable wiring. The method enables to take into account the deformation of cables while connector incorporation process. Using a physical simulation that predicts the shape of a cable based on the pose of both ends of the cable, we generate a connector moving path that avoids intereference between the cable and surrounding structures. We conducted experiments under several different environments and several different lengths of cables, and confirmed that actual cable manipulation can stably be achieved by using the proposed method.

Cite this article as:
K. Nozaki, C. Ying, Y. Matsuura, and K. Yamazaki, “Manipulation Planning for Wiring Connector-Attached Cables Considering Linear Object’s Deformability,” Int. J. Automation Technol., Vol.17 No.4, pp. 399-409, 2023.
Data files:
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Last updated on Jul. 12, 2024