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• W3089201745 abstract "Robotic manipulation of deformable linear objects has potential application in aircraft cable assembly. However, it is difficult to be implemented in real tasks due to requiring prediction of the object’s deformation and obstacle-free manipulation planning with high efficiency. Aiming at exploring automatic assembly planning for aircraft cables assembly in narrow cabins with obstacles, this paper proposes a novel planning algorithm named RRT-BwC (Bi-direction with Constrain). Firstly, formulation of the question and the manipulation objects are presented with geometric definitions. Then a bi-RRT-tree searching method is developed to design the planner for overcoming obstacles in the high dimensional planning space. The numerical distance between configurations in the cable shape space are defined to measure the demands for their transition in consideration of the manipulation logics. And the sampling zone constrains to the shape configuration nodes are also discussed. Finally, the algorithm presents a valid manipulation sequence for robotic manipulation. The functionality and performance of the improved RRT approach are demonstrated with a simulated real-world problem of aircraft cable assembly, exhibiting computation efficiency promotion." @default.
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• W3089201745 date "2020-10-01" @default.
• W3089201745 modified "2023-10-06" @default.
• W3089201745 title "An algorithm based on bidirectional searching and geometric constrained sampling for automatic manipulation planning in aircraft cable assembly" @default.
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• W3089201745 doi "https://doi.org/10.1016/j.jmsy.2020.08.015" @default.
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