Manipulation Planning for Cable Shape Control

Abstract

The control of deformable linear objects (DLOs) such as cables presents a significant challenge for robotic systems due to their unpredictable behavior during manipulation. This paper introduces a novel approach for cable shape control using dual robotic arms on a two–dimensional plane. A discrete point model is utilized for the cable, and a path generation algorithm is developed to define intermediate cable shapes, facilitating the transformation of the cable into the desired profile through a formulated optimization problem. The problem aims to minimize the discrepancy between the cable configuration and the targeted shape to ensure an accurate and stable deformation process. Moreover, a cable dynamic model is developed in which the manipulation approach is validated using this model. Additionally, the approach is tested in a simulation environment in which a framework of two manipulators grasps a cable. The results demonstrate the feasibility and accuracy of the proposed method, offering a promising direction for robotic manipulation of cables.

Keywords

• robotic manipulation
• shape control
• optimization control problem
• simulation
• deformable linear objects