Shape Control of Elastic Deformable Linear Objects for Robotic Cable Assembly
Bin Cao,
Xizhe Zang,
Xuehe Zhang
et al.
Abstract:Currently, cables are manually installed in aircraft manufacturing scenarios. The utilization of robots in cable assemblies can enhance efficiency and ensure quality, presenting great promise for the future. However, the assembly process must control the shape of the cables, which is a significant challenge for robots. On the one hand, cables have high degrees of freedom in space, making accurate modeling of cable dynamics for robotic arm manipulation difficult; on the other hand, cable deformation has uncerta… Show more
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