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JRM Vol.23 No.6 pp. 907-918
doi: 10.20965/jrm.2011.p0907
(2011)

Paper:

Development of a Wire Harness Assembly Motion Planner for Redundant Multiple Manipulators

Kyongmo Koo, Xin Jiang, Atsushi Konno,
and Masaru Uchiyama

Tohoku University, 6-6-01 Aoba-yama, Sendai 980-8579, Japan

Received:
May 11, 2011
Accepted:
September 8, 2011
Published:
December 20, 2011
Keywords:
deformable linear object, motion planning, redundant manipulator
Abstract

This article discusses a motion planner for manipulating deformable linear objects with multiple manipulators. When multiple manipulators grip a rigid body, hand positions and postures of those manipulators are dependent variables of the positions and postures of the gripped rigid body. On the other hand, when multiple manipulators grip a deformable linear object, constraint conditions are eased compared to those for a rigid body. However, there is another problem: the need for consideration of deformation of a deformable linear object by the motion plan of a robot. In this research, in order to grip and operate such deformable linear objects with multiple manipulators, we developed a sampling-based robot motion planner. By combining basic motions generated by the developed robot motion planner, we will show that a complicated task, such as the assembly of a deformable linear object with the multiple manipulators, is possible. Using the example of a wire harness assembly work on an automobile production line, we perform motion planning using the developed motion planner, and we verify its effectiveness through simulations.

Cite this article as:
Kyongmo Koo, Xin Jiang, Atsushi Konno, and
and Masaru Uchiyama, “Development of a Wire Harness Assembly Motion Planner for Redundant Multiple Manipulators,” J. Robot. Mechatron., Vol.23, No.6, pp. 907-918, 2011.
Data files:
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