Shape Control of Elastic Deformable Linear Objects for Robotic Cable Assembly

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 uncertainty, and the applied forces cause simultaneous deformation and motion, which is difficult to control. To address these problems, this study proposes a cable‐shape control method based on graph neural networks and online visual shape‐servoing. The method first approximates cable dynamics with a graph neural network. Then, in practice, the learnt model is used alongside visual‐based shape‐servoing to generate optimal robotic arm movements, controlling the cable to attain the desired shape. In the experiments, precise control of three different cable types is realized, and an example of a completed cable assembly is shown.

Keywords

• cable installations
• deformable linear objects
• deformable manipulations
• dual‐arm robot manipulations
• model learning