Robotized recognition of a wire harness utilizing tracing operation
In assembly lines, deformation of the objects makes many efforts on automating the corresponding processes difficult. Mating of a wire harness onto a car body is among the representative tasks. Academically, this kind of problems are known as automatic manipulation of deformable linear objects. Prev...
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| Published in | Robotics and computer-integrated manufacturing Vol. 34; pp. 52 - 61 |
|---|---|
| Main Authors | , , , , , |
| Format | Journal Article |
| Language | English |
| Published |
Elsevier Ltd
01.08.2015
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| Subjects | |
| Online Access | Get full text |
| ISSN | 0736-5845 1879-2537 |
| DOI | 10.1016/j.rcim.2014.12.002 |
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| Abstract | In assembly lines, deformation of the objects makes many efforts on automating the corresponding processes difficult. Mating of a wire harness onto a car body is among the representative tasks. Academically, this kind of problems are known as automatic manipulation of deformable linear objects. Previous technical approaches for solving the problem is characterized by employment of multiple contactless sensors and complex sensor based algorithms. These attempts are verified to be feasible only for simplified environments. The dependence of the approaches on real-time measurement to the state of the deformable targets limits their application in practical factory environment. In this paper, it is proposed to utilize wire tracing operation in recognizing the wire harness for the purpose of automatic mating. This method is inspired from the behaviors of humans demonstrated when they deal with similar problems. The proposed method is implemented and verified in a robot system. The feasibility and effectiveness demonstrated in the preliminary experiments show the potential of the proposed method for substantially simplifying the wire recognition problems which is thought to be crucial for practices in factory environments.
•A new method for realizing automatic wire harness mating is proposed. In this method, recognition to the wire harness is proposed to be achieved by using a gripping which can move along the wire harness.•The proposed solution does not necessitate complex sensing means and algorithms thus its extension has the potential to be applied in factory environment.•The proposed approach has been implemented using three arms robot manipulator.•Preliminary experiments are verifying the feasibility of the proposed approach. |
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| AbstractList | In assembly lines, deformation of the objects makes many efforts on automating the corresponding processes difficult. Mating of a wire harness onto a car body is among the representative tasks. Academically, this kind of problems are known as automatic manipulation of deformable linear objects. Previous technical approaches for solving the problem is characterized by employment of multiple contactless sensors and complex sensor based algorithms. These attempts are verified to be feasible only for simplified environments. The dependence of the approaches on real-time measurement to the state of the deformable targets limits their application in practical factory environment. In this paper, it is proposed to utilize wire tracing operation in recognizing the wire harness for the purpose of automatic mating. This method is inspired from the behaviors of humans demonstrated when they deal with similar problems. The proposed method is implemented and verified in a robot system. The feasibility and effectiveness demonstrated in the preliminary experiments show the potential of the proposed method for substantially simplifying the wire recognition problems which is thought to be crucial for practices in factory environments.
•A new method for realizing automatic wire harness mating is proposed. In this method, recognition to the wire harness is proposed to be achieved by using a gripping which can move along the wire harness.•The proposed solution does not necessitate complex sensing means and algorithms thus its extension has the potential to be applied in factory environment.•The proposed approach has been implemented using three arms robot manipulator.•Preliminary experiments are verifying the feasibility of the proposed approach. |
| Author | Abiko, Satoko Tsujita, Teppei Nagaoka, Yuki Ishii, Kazushi Uchiyama, Masaru Jiang, Xin |
| Author_xml | – sequence: 1 givenname: Xin orcidid: 0000-0002-6711-8172 surname: Jiang fullname: Jiang, Xin email: jiangxin@space.mech.tohoku.ac.jp, khyron78@gmail.com – sequence: 2 givenname: Yuki surname: Nagaoka fullname: Nagaoka, Yuki – sequence: 3 givenname: Kazushi surname: Ishii fullname: Ishii, Kazushi – sequence: 4 givenname: Satoko surname: Abiko fullname: Abiko, Satoko – sequence: 5 givenname: Teppei surname: Tsujita fullname: Tsujita, Teppei – sequence: 6 givenname: Masaru surname: Uchiyama fullname: Uchiyama, Masaru |
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| Cites_doi | 10.1109/TMECH.2006.878557 10.1109/IROS.2008.4650802 10.1007/BF01211847 10.1109/IROS.2010.5653133 10.1109/ROBOT.2005.1570333 |
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| Keywords | Wire tracing Flexible object handling Wire harness mating |
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| References | X. Jiang, K. mo Koo, K. Kikuchi, A. Konno, M. Uchiyama, Robotized assembly of a wire harness in car production line, in: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, 2010, pp. 490–495. C.C. Adams, The Knot Book. American Mathematical Society; 2004. J. Acker, D. Henrich, Manipulation of deformable linear objects: from geometric model towards program generation, in: Proceedings of IEEE International Conference on Robotics and Automation, 2005, pp. 1541–1547. Artoolkit. 〉 K. mo Koo, X. Jiang, K. Kikuchi, A. Konno, M. Uchiyama, Development of a robot car wiring system, in: Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Xi׳An, China, 2008, pp. 862–867. T. Matsuno, D. Tamaki, F. Arai, T. Fukuda, Manipulation of deformable linear objects using knot invariants to classify the object condition based on image sensor information IEEE/ASME Trans. Mechatron. 2006;11(4):401–408. F. Abbegg, D. Henrich, H. Wörn, Manipulating deformable linear objects – vision-based recognition of contact state transitions, in: The 9th International Conference on Advanced Robotics (ICAR’99), Tokyo, Japan, 1999, pp. 135–140. E. Hultman, M. Leijon, Utilizing cable winding and industrial robots to facilitate the manufacturing of electric machines Robot. Comput.-Integr. Manuf. 2014;29:246–256. G. Michalos, S. Makris, N. Papakostas, G. Chryssolouris, Automotive assembly technologies review challenges and outlook for a flexible and adaptive approach CIRP J. Manuf. Sci. Technol. 2010;2:81–91 X. Jiang, K.-M. Koo, K. Kikuchi, A. Konno, M. Uchiyama, Robotized assembly of a wire harness in a car production line Adv. Robot. 2011;25(3):473–489. Project for strategic development of advanced robotics elemental technologies (2006–2010). Y. Yamakama, A. Namiki, M. Ishikawa, M. Shimojo, Knotting manipulation of a flexible rope by a multifingered hand system based on skill synthesis, in: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, Nice, France, 2008, pp. 2691–2696. H. Wakamatsu, E. Arai, S. Hirai, Knotting/unknotting manipulation of deformable linear objects Int. J. Robot. Res. 2006;25(4):371–395. T. Maruyama, S. Kanda, M. Sato, T. Uchiyama, Hand-eye system with three-dimensional vision and microgripper for handling flexible wire Mach. Vis. Appl. 1990:189–199. (in Japanese)〉. G. Chryssolouris, Manufacturing Systems: Theory and Practice, 2nd Edition. Springer-Verlag, 2006. . Handflex (integrated modular solution for handling of flexible materials in industrial environments (1996–2000). E. Hultman, M. Leijon, A cable feeder tool for robotized cable winding Robot. Comput.-Integr. Manuf. 2014;30:577–588. H. Wakamatsu, A. Tsumaya, K. Shirase, E. Arai, Representation of deformable thin object manipulation based on contact state, in: Proceedings of the 5th Japan-France Congress & 3rd Asia-Europe Congress on Mechatronics, 2001, pp. 519–524. M. Saha, P. Isto, Manipulation planning for deformable linear objects IEEE Trans. Robot. 2007;23(6):1141–1150. P. Jiménez, Survey on model-based manipulation planning of deformable objects Robot. Comput.-Integr. Manuf. 2012;28:154–163. H. Inoue, M. Inaba, Hand eye coordination in rope handling, in: Proceedings of the First International Symposium on Robotics Research (ISRR1), 1983, pp. 163–174. T. Hermansson, R. Bohlin, J.S. Carlson, S. Rikard, Automatic assembly path planning for wiring harness installations J. Manuf. Syst. 2013;32:417–422. 10.1016/j.rcim.2014.12.002_bib6 10.1016/j.rcim.2014.12.002_bib14 10.1016/j.rcim.2014.12.002_bib5 10.1016/j.rcim.2014.12.002_bib15 10.1016/j.rcim.2014.12.002_bib8 10.1016/j.rcim.2014.12.002_bib16 10.1016/j.rcim.2014.12.002_bib7 10.1016/j.rcim.2014.12.002_bib17 10.1016/j.rcim.2014.12.002_bib18 10.1016/j.rcim.2014.12.002_bib9 10.1016/j.rcim.2014.12.002_bib19 10.1016/j.rcim.2014.12.002_bib20 10.1016/j.rcim.2014.12.002_bib10 10.1016/j.rcim.2014.12.002_bib21 10.1016/j.rcim.2014.12.002_bib11 10.1016/j.rcim.2014.12.002_bib22 10.1016/j.rcim.2014.12.002_bib12 10.1016/j.rcim.2014.12.002_bib13 10.1016/j.rcim.2014.12.002_bib2 10.1016/j.rcim.2014.12.002_bib1 10.1016/j.rcim.2014.12.002_bib4 10.1016/j.rcim.2014.12.002_bib3 |
| References_xml | – reference: Artoolkit. – reference: F. Abbegg, D. Henrich, H. Wörn, Manipulating deformable linear objects – vision-based recognition of contact state transitions, in: The 9th International Conference on Advanced Robotics (ICAR’99), Tokyo, Japan, 1999, pp. 135–140. – reference: K. mo Koo, X. Jiang, K. Kikuchi, A. Konno, M. Uchiyama, Development of a robot car wiring system, in: Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Xi׳An, China, 2008, pp. 862–867. – reference: T. Matsuno, D. Tamaki, F. Arai, T. Fukuda, Manipulation of deformable linear objects using knot invariants to classify the object condition based on image sensor information IEEE/ASME Trans. Mechatron. 2006;11(4):401–408. – reference: T. Maruyama, S. Kanda, M. Sato, T. Uchiyama, Hand-eye system with three-dimensional vision and microgripper for handling flexible wire Mach. Vis. Appl. 1990:189–199. – reference: Y. Yamakama, A. Namiki, M. Ishikawa, M. Shimojo, Knotting manipulation of a flexible rope by a multifingered hand system based on skill synthesis, in: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, Nice, France, 2008, pp. 2691–2696. – reference: M. Saha, P. Isto, Manipulation planning for deformable linear objects IEEE Trans. Robot. 2007;23(6):1141–1150. – reference: P. Jiménez, Survey on model-based manipulation planning of deformable objects Robot. Comput.-Integr. Manuf. 2012;28:154–163. – reference: X. Jiang, K.-M. Koo, K. Kikuchi, A. Konno, M. Uchiyama, Robotized assembly of a wire harness in a car production line Adv. Robot. 2011;25(3):473–489. – reference: G. Chryssolouris, Manufacturing Systems: Theory and Practice, 2nd Edition. Springer-Verlag, 2006. – reference: H. Wakamatsu, E. Arai, S. Hirai, Knotting/unknotting manipulation of deformable linear objects Int. J. Robot. Res. 2006;25(4):371–395. – reference: Project for strategic development of advanced robotics elemental technologies (2006–2010). 〈 – reference: C.C. Adams, The Knot Book. American Mathematical Society; 2004. – reference: 〉 – reference: T. Hermansson, R. Bohlin, J.S. Carlson, S. Rikard, Automatic assembly path planning for wiring harness installations J. Manuf. Syst. 2013;32:417–422. – reference: H. Wakamatsu, A. Tsumaya, K. Shirase, E. Arai, Representation of deformable thin object manipulation based on contact state, in: Proceedings of the 5th Japan-France Congress & 3rd Asia-Europe Congress on Mechatronics, 2001, pp. 519–524. – reference: E. Hultman, M. Leijon, Utilizing cable winding and industrial robots to facilitate the manufacturing of electric machines Robot. Comput.-Integr. Manuf. 2014;29:246–256. – reference: . – reference: (in Japanese)〉. – reference: J. Acker, D. Henrich, Manipulation of deformable linear objects: from geometric model towards program generation, in: Proceedings of IEEE International Conference on Robotics and Automation, 2005, pp. 1541–1547. – reference: X. Jiang, K. mo Koo, K. Kikuchi, A. Konno, M. Uchiyama, Robotized assembly of a wire harness in car production line, in: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, Taiwan, 2010, pp. 490–495. – reference: G. Michalos, S. Makris, N. Papakostas, G. Chryssolouris, Automotive assembly technologies review challenges and outlook for a flexible and adaptive approach CIRP J. Manuf. Sci. Technol. 2010;2:81–91 – reference: E. Hultman, M. Leijon, A cable feeder tool for robotized cable winding Robot. Comput.-Integr. Manuf. 2014;30:577–588. – reference: Handflex (integrated modular solution for handling of flexible materials in industrial environments (1996–2000). 〈 – reference: H. Inoue, M. Inaba, Hand eye coordination in rope handling, in: Proceedings of the First International Symposium on Robotics Research (ISRR1), 1983, pp. 163–174. – ident: 10.1016/j.rcim.2014.12.002_bib11 doi: 10.1109/TMECH.2006.878557 – ident: 10.1016/j.rcim.2014.12.002_bib21 – ident: 10.1016/j.rcim.2014.12.002_bib22 – ident: 10.1016/j.rcim.2014.12.002_bib9 doi: 10.1109/IROS.2008.4650802 – ident: 10.1016/j.rcim.2014.12.002_bib20 – ident: 10.1016/j.rcim.2014.12.002_bib4 – ident: 10.1016/j.rcim.2014.12.002_bib15 – ident: 10.1016/j.rcim.2014.12.002_bib3 – ident: 10.1016/j.rcim.2014.12.002_bib13 – ident: 10.1016/j.rcim.2014.12.002_bib6 – ident: 10.1016/j.rcim.2014.12.002_bib7 – ident: 10.1016/j.rcim.2014.12.002_bib12 – ident: 10.1016/j.rcim.2014.12.002_bib14 doi: 10.1007/BF01211847 – ident: 10.1016/j.rcim.2014.12.002_bib16 – ident: 10.1016/j.rcim.2014.12.002_bib17 doi: 10.1109/IROS.2010.5653133 – ident: 10.1016/j.rcim.2014.12.002_bib18 – ident: 10.1016/j.rcim.2014.12.002_bib19 – ident: 10.1016/j.rcim.2014.12.002_bib8 – ident: 10.1016/j.rcim.2014.12.002_bib10 – ident: 10.1016/j.rcim.2014.12.002_bib1 – ident: 10.1016/j.rcim.2014.12.002_bib2 – ident: 10.1016/j.rcim.2014.12.002_bib5 doi: 10.1109/ROBOT.2005.1570333 |
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| SubjectTerms | Flexible object handling Wire harness mating Wire tracing |
| Title | Robotized recognition of a wire harness utilizing tracing operation |
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