The robotic manipulation of deformable linear objects (DLOs), such as cables, is a valuable yet complex skill. In particular, to realize tasks like cable routing and wire harness assembly, it is required that two robotic arms, grasping the ends of a DLO, move it from an initial shape to a final one where cable assembly can be performed. The manipulation must be performed following a collision-free path and avoiding stretching and excessively deforming it. We address this problem by proposing an optimal model-based path planning strategy. Specifically, a hierarchical optimization strategy is defined to perform path planning, exploiting a mass–spring DLO dynamic model that we enhance to handle a generic equilibrium condition for the DLO. Furthermore, we model the interaction of the DLO with objects like clips used in assembly operations. We also deal with the estimation of the DLO stiffness to properly tune the model parameters. The effectiveness of our methodology is assessed via experimental tests, where a dual-arm robot executes the planned paths manipulating several DLOs with different mechanical properties. Finally, the method is exploited to execute a wire harness assembly task.

中文翻译：

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基于模型的最佳路径规划，用于机器人操纵可变形线性物体


机器人操作可变形线性物体 （DLO），例如电缆，是一项有价值但复杂的技能。特别是，为了实现电缆布线和线束组装等任务，需要两个机械臂抓住 DLO 的末端，将其从初始形状移动到最终形状，以便进行电缆组装。必须按照无碰撞的路径进行操作，并避免拉伸和过度变形。我们通过提出一种基于模型的最佳路径规划策略来解决这个问题。具体来说，定义了一个分层优化策略来执行路径规划，利用我们增强的质量-弹簧 DLO 动态模型来处理 DLO 的通用平衡条件。此外，我们还对 DLO 与装配操作中使用的剪辑等对象的交互进行建模。我们还处理了 DLO 刚度的估计，以正确调整模型参数。我们方法的有效性是通过实验测试来评估的，其中双臂机器人执行计划的路径，操纵几个具有不同机械特性的 DLO。最后，利用该方法执行线束组装任务。